Tightly Coupled Algorithm Based on Nonlinear Filtering in the State Space with Digital Map Navigation

摘要

This paper describes tightly coupled algorithms of measurements by coarse microelectro-mechanical sensors with data generated by GPS/GLONASS mobile onboard satellite navigation receivers. The synthesized algorithm ensures a highly accurate and high-frequency recording of linear and angular car parameters when the visible satellite constellation degrades and the accuracy of satellite-aided measurements decreases. The terrestrial vehicle is supposed only to travel along the highway with coordinates recorded in digital navigation maps.