Port Container Truck Localization Using Sensor Fusion Technique

摘要

This paper presents a sensor fusion technique to localize container truck using indoor Global Positioning System (iGPS), Radio Frequency Identification (RFID) and Inertial Measurement Unit (IMU) consisting of accelerometer, gyroscope, and magnetometer. A particle filter algorithm is introduced in the technique to fuse the different sensors for the localization. Experiments in an indoor structured environment using container truck miniature were conducted. Fusion of the inertial sensors, iGPS sensors and RFID is able to provide position data accurately with faster update rate than the result of individual sensors. The position monitoring system for the container truck localization was built wirelessly and real-time in this investigation, in order to be able to observe the position of the object at any time. Wireless communication was used to allow the system to be monitored remotely.