Fusion of sensor data in Siemens car navigation system

被引:51
作者
Obradovic, Dragan [1 ]
Lenz, Henning
Schupfner, Markus
机构
[1] Siemens Corp Technol, Informat & Commun Dept, D-81730 Munich, Germany
[2] Siemens VDO, Navigat Dept, D-93055 Regensburg, Germany
关键词
car navigation system; digital map; Kalman filter; pattern matching; positioning;
D O I
10.1109/TVT.2006.883731
中图分类号
TM [电工技术]; TN [电子技术、通信技术];
学科分类号
0808 [电气工程]; 0809 [电子科学与技术];
摘要
Car navigation systems have three main tasks, namely 1) positioning; 2) routing; and 3) navigation (guidance). Positioning of the car is carried out by appropriately combining information from several sensors and information sources, including odometers, gyroscopes, Global Positioning System (GPS) information, and digital maps. This paper describes two sensor-fusion steps implemented in commercial Siemens car navigation systems. The first step is the fusion of the odometer, gyroscope, and GPS sensory information. The dynamic model of the car movement is implemented in a Kalman filter, which relays the GPS signal as a teacher. In the second step, the available digital map is used to find the most likely position on the roads. Contrary to the standard application of the digital map, where the current estimated car position is just projected on the road map, the approach presented here compares the features of the integrated vehicle path with the features of the candidate roads from the digital map. In addition, this paper presents the results of the experimental drives. The developed car navigation system was awarded the best car navigation system among ten competing systems in 2002 by the Auto Build magazine.
引用
收藏
页码:43 / 50
页数:8
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