High Integrity IMM-EKF Based Road Vehicle Navigation with Low Cost GPS/INS.

摘要

User requirements for the performance of GlobaL Navigation Satellite System (GNSS)-based road applications havebeen significantly increasing in recent years. Safety systems based on vehicle localization, electronic fee-collection systems, and traveler information services are just a few examples of interestingapplications requiring onboard equipment (OBE) capable of offering a high available accurate position, even in unfriendlyenvironments with low satellite visibility such as built-up areas or tunnels and at low cost. In addition to that, users and serviceproviders demand from the OBEs not only accurate continuous positioning but integrity information of the reliability of this position as well. Specifically, in life-critical applications,high-integrity monitored positioning is absolutely required. This paper presents a solution based on the fusion of GNSS and inertial sensors (a Global Positioning System/Satellite-Based AugmentationSystem/Inertial Navigation System integrated system) running an extended Kalman filter combined with an interactive multimodel method (IMM-EKF). The solution developed in this paper supplies continuous positioning in marketable conditions and a meaningful trust level of the given solution. A set of testsperformed in controlled and real scenarios proves the suitability of the proposed IMM-EKF implementation as compared with lowcost GNSS-based solutions, dead reckoning systems, single-model EKF, and other filtering approaches of the current literature.