An innovative information fusion method with adaptive Kalman filter for integrated INS/GPS navigation of autonomous vehicles

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dc.contributor.authorLiu, Yahui
dc.contributor.authorFan, Xiaoqian
dc.contributor.authorLv, Chen
dc.contributor.authorWu, Jian
dc.contributor.authorLi, Liang
dc.contributor.authorDing, Dawei
dc.date.accessioned2017-11-21T16:22:38Z
dc.date.available2017-11-21T16:22:38Z
dc.date.issued2017-09-04
dc.description.abstractInformation fusion method of INS/GPS navigation system based on filtering technology is a research focus at present. In order to improve the precision of navigation information, a navigation technology based on Adaptive Kalman Filter with attenuation factor is proposed to restrain noise in this paper. The algorithm continuously updates the measurement noise variance and processes noise variance of the system by collecting the estimated and measured values, and this method can suppress white noise. Because a measured value closer to the current time would more accurately reflect the characteristics of the noise, an attenuation factor is introduced to increase the weight of the current value, in order to deal with the noise variance caused by environment disturbance. To validate the effectiveness of the proposed algorithm, a series of road tests are carried out in urban environment. The GPS and IMU data of the experiments were collected and processed by dSPACE and MATLAB/Simulink. Based on the test results, the accuracy of the proposed algorithm is 20% higher than that of a traditional Adaptive Kalman Filter. It also shows that the precision of the integrated navigation can be improved due to the reduction of the influence of environment noise.en_UK
dc.identifier.citationLiu YH, Fan XQ, Lv C, Wu J, Li L, Ding DW, An innovative information fusion method with adaptive Kalman filter for integrated INS/GPS navigation of autonomous vehicles, Mechanical Systems and Signal Processing, Vol. 100, 1 February 2018, pp. 605-616en_UK
dc.identifier.issn0888-3270
dc.identifier.urihttp://dx.doi.org/10.1016/j.ymssp.2017.07.051
dc.identifier.urihttps://dspace.lib.cranfield.ac.uk/handle/1826/12726
dc.language.isoenen_UK
dc.publisherElsevieren_UK
dc.rightsAttribution-NonCommercial-NoDerivatives 4.0 International
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/4.0/
dc.subjectIntegrated navigationen_UK
dc.subjectInformation fusionen_UK
dc.subjectIAE-AKFen_UK
dc.subjectAutonomous vehicleen_UK
dc.titleAn innovative information fusion method with adaptive Kalman filter for integrated INS/GPS navigation of autonomous vehiclesen_UK
dc.typeArticleen_UK

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