使用慣性傳感器和GPS對(duì)車輛進(jìn)行定位(外文翻譯)

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中文： 5400 字
英文： 18700字符


摘要：提出的貢獻(xiàn)描述的方法預(yù)處理和融合的新的客運(yùn)車輛，車載傳感器-里程表和加速度計(jì)，所有的目標(biāo)，作為可選的和臨時(shí)的替代GPS的導(dǎo)航。建議的解決方案探討以規(guī)則為基礎(chǔ)的系統(tǒng)的相互替代和校準(zhǔn)傳感器的使用取決于實(shí)際情況。唯一使用的全球定位系統(tǒng)在這里停留在提供經(jīng)常性的位置校準(zhǔn)，并作為參考方法，評(píng)價(jià)結(jié)果提出的。提出的解決方案已經(jīng)通過(guò)真實(shí)世界記錄在紙上的數(shù)據(jù)的檢測(cè)。
關(guān)鍵詞：數(shù)據(jù)融合，車輛定位，里程表，加速度，慣性導(dǎo)航，衛(wèi)星導(dǎo)航
導(dǎo)言
許多今天的移動(dòng)系統(tǒng)希望應(yīng)用更先進(jìn)的解決方案實(shí)現(xiàn)他們的自動(dòng)化。特別是，要做到這一點(diǎn)，要建立一般可靠的系統(tǒng)的物理定位的移動(dòng)通信系統(tǒng)。由于工作中不充分的復(fù)雜性的任何形式的實(shí)體（在一般情況下這些甚至也可能是人類或其他生物的實(shí)體），進(jìn)行本地化似乎是不切實(shí)際的做法，所以我們的解決方案主要針對(duì)輪式車輛。雖然這一假設(shè)規(guī)定限制了最終解決，但是也提供足夠的空間為設(shè)計(jì)和測(cè)試的具體方法的慣性傳感器融合航行的目的 ......


Abstract.
The presented contribution describes an approach to preprocessing and fusion of additional vehicle onboard sensors - the odometer and accelerometer, all targeted to serve as optional and temporary substitute for GPS-like navigation. The suggested solution explores a rule-based system for mutual substitutions and calibrations of the used sensors depending on actual conditions. The only usage of the GPS here stands in providing regular position calibrations and serves as a reference method for evaluation of the presented results. The presented solutions have been experimentally tested with real-world data as shown in the experimental part of the paper. Keywords: data fusion, vehicle locator, odometer, accelerometer, odometer corrections, inertial navigation, satellite navigation
1 Introduction
Many today’s applications of mobile systems desire more sophisticated solutions to their automation. In particular, this can be achieved via creating reliable system for physical localization of the mobile systems of any kind in general. As the task does in its full complexity for any kind of entity (in general case these might also be even humans or other living entities) to be localized seems to be of diverse approach, our solution is targeted mainly on wheeled type of vehicles. Although this assumption sets constraints for the final solution, provides also sufficient space for design and testing of specific methods of inertial sensor fusion for navigation purposes.
Standard vehicle position control systems usually rely on track-aside equipments (landmark beacon systems, etc.) supporting the solution of the localization task. On the other hand these might also bring many disadvantages. Track-aside equipments are hard protected against vandalism, doesn’t allow dynamic changes and does not guarantee reliable, or even any, performance at accident situations. Besides that, maintenance and operation costs are high. Therefore, recent trends are turning attention towards vehicle-born systems through, so called, and distributed intelligent control systems ......