Improving Accuracy of the Vehicle Attitude Estimation for Low-Cost INS/GPS Integration Aided by the GPS-Measured Course Angle

Wu, Zongwei; Mao, Yao; Ma, Hongguang; Jia, Weimin

doi:10.1109/tits.2012.2224343

Cited by 84 publications

(42 citation statements)

References 27 publications

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“…In [21], traffic flow prediction for traffic forecasting and congestion management is made. The work [22] estimates the attitude of a vehicle for low-cost inertial navigation system/GPS. Ahn et al [23] present the Road Information Sharing Architecture, representing the first distributed approach to road condition detection and dissemination for vehicular networks.…”

Section: Related Workmentioning

confidence: 99%

Improved Rule Installation for Real-Time Query Service in Software-Defined Internet of Vehicles

Wang¹,

Wang²,

Zhang³

et al. 2017

IEEE Trans. Intell. Transport. Syst.

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Internet of Vehicles (IoV) has gained considerable attention from industry and academia due to the development of communication technology and smart city. However, a proprietary and closed way of operating hardware in network equipment slows down the progress of new service deployment and extension in IoV. Moreover, the tightly coupled control and data planes in traditional networks significantly increase the complexity and cost of network management. By proposing a novel architecture, i.e., software-defined IoV (SDIV), we adopt a software-defined network (SDN) architecture to address these problems by leveraging its separation of the control plane from the data one and a uniform way to configure heterogeneous switches. However, IoV characteristics introduce some great challenges in rule installation due to the limited size of flow tables at OpenFlow-enabled switches that are the main SDN component. It is necessary to build compact flow tables for IoV scalability. Accordingly, we develop a novel rule installation mechanism to reduce the number of rules for real-time query services in SDIV. We separate the wired data plane from the wireless one and use multicast addresses in the latter. We introduce a destination-driven model in the wired data plane to reduce the number of rules at switches. Experiments with a real data trace show that the developed approach significantly reduces the number of rules without degrading the performance of data transmissions for real-time query services in IoV.Index Terms-Internet of Things, Internet of Vehicles (IoV), software-defined network (SDN), real-time query service. Manuscript

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Section: Related Workmentioning

confidence: 99%

Improved Rule Installation for Real-Time Query Service in Software-Defined Internet of Vehicles

Wang¹,

Wang²,

Zhang³

et al. 2017

IEEE Trans. Intell. Transport. Syst.

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“…Utilizing equations (19) and (20), the vehicle attitude can be computed via the strapdown algorithm of the 6-DoF IMU, as adopted in much vehicle-positioning literature. [1][2][3][5][6][7][10][11][12][13]19,20 However, the full 6-DoF IMU is expensive, especially its three gyroscopes. As many vehicles are equipped with electronic stability control or yaw stability control, some of the IMU signals are easily available through the vehicle's CAN bus.…”

Section: Rls Algorithm For the Roll And Pitch Angle Estimationmentioning

confidence: 99%

“…1 One common method is that the GPS is integrated with an inertial navigation system (INS) because of their complementary characteristics. [3][4][5][6][7] An INS based on a full six-degree-of-freedom (6-DoF) inertial measurement unit (IMU) consists of a group of inertial sensors, i.e. three accelerometers and three gyroscopes.…”

Section: Introductionmentioning

confidence: 99%

A reliable multisensor fusion strategy for land vehicle positioning using low-cost sensors

Chen

Chan

2014

Proceedings of the Institution of Mechanical Engineers, Part D:

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Many intelligent transportation system applications such as vehicle guidance, assistance driving, and safety alert require accurate, reliable, and continuous vehicle positioning whether in open environments or in Global-Positioning-Systemdenied environments. The way in which such positioning performance can be achieved using low-cost sensors is the main challenge for land vehicles. This paper proposes a reliable and cost-effective multisensor fusion strategy for real-time vehicle positioning. First, several key-data-preprocessing algorithms are developed to provide more accurate and richer information for subsequent global fusion. They include a sliding-mode observer for eliminating the noise from the wheel velocity, a recursive least-squares algorithm for vehicle attitude estimation and angle compensation, and a vehicle state estimator for estimating the unmeasured lateral vehicle state. Further, an interacting-multiple-model-based fuzzy-decentralized-information-filtering algorithm is developed to realize global fusion. In the implementation of the interacting-multiple-model-based fuzzy-decentralized-information-filtering algorithm, the decentralized-information-filtering algorithm is presented, which can conveniently isolate a Global Positioning System fault and fuse multiple observation sources with different sample rates, and the fuzzy inference module is designed and introduced to adjust model probabilities adaptively to make them more suitable for actual driving situations. Finally, the proposed strategy is evaluated through both simulations and experiments. The results validate the feasibility and the effectiveness of the proposed strategy.

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“…In this method, two problems exist: frequent discontinuities of GPS signals in the urban environments, and simple map matching on the center of a road. To get over these problems, the inertial navigation system (INS)/GPS navigation system can be used (Cho et al 2007, Cho & Kim 2008, Liu et al 2010, Yu 2012, Wu et al 2013). However, a burning question is how lane-level positioning can be achieved.…”

Section: Introductionmentioning

confidence: 99%

Development of an IGVM Integrated Navigation System for Vehicular Lane-Level Guidance Services

Cho¹

2016

Journal of Positioning, Navigation, and Timing

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This paper presents an integrated navigation system for accurate navigation solution-based safety and convenience services in the vehicular augmented reality (AR)-head up display (HUD) system. For lane-level guidance service, especially, an accurate navigation system is essential. To achieve this, an inertial navigation system (INS)/global positioning system (GPS)/vision/ digital map (IGVM) integrated navigation system has been developing. In this paper, the concept of the integrated navigation system is introduced and is implemented based on a multi-model switching filter and vehicle status decided by using the GPS data and inertial measurement unit (IMU) measurements. The performance of the implemented navigation system is verified experimentally.

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Improving Accuracy of the Vehicle Attitude Estimation for Low-Cost INS/GPS Integration Aided by the GPS-Measured Course Angle

Cited by 84 publications

References 27 publications

Improved Rule Installation for Real-Time Query Service in Software-Defined Internet of Vehicles

Improved Rule Installation for Real-Time Query Service in Software-Defined Internet of Vehicles

A reliable multisensor fusion strategy for land vehicle positioning using low-cost sensors

Development of an IGVM Integrated Navigation System for Vehicular Lane-Level Guidance Services

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