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Context-Aided Sensor Fusion for Enhanced Urban Navigation

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dc.affiliation.dptoUC3M. Departamento de Ingeniería de Sistemas y Automáticaes
dc.affiliation.grupoinvUC3M. Grupo de Investigación: Laboratorio de Sistemas Inteligenteses
dc.contributor.authorMarti Muñoz, Enrique David
dc.contributor.authorMartín, David
dc.contributor.authorGarcía, Jesús
dc.contributor.authorEscalera Hueso, Arturo de la
dc.contributor.authorMolina, José M.
dc.contributor.authorArmingol Moreno, José María
dc.date.accessioned2013-02-12T12:12:16Z
dc.date.available2013-02-12T12:12:16Z
dc.date.issued2012-12
dc.description.abstractThe deployment of Intelligent Vehicles in urban environments requires reliable estimation of positioning for urban navigation. The inherent complexity of this kind of environments fosters the development of novel systems which should provide reliable and precise solutions to the vehicle. This article details an advanced GNSS/IMU fusion system based on a context-aided Unscented Kalman filter for navigation in urban conditions. The constrained non-linear filter is here conditioned by a contextual knowledge module which reasons about sensor quality and driving context in order to adapt it to the situation, while at the same time it carries out a continuous estimation and correction of INS drift errors. An exhaustive analysis has been carried out with available data in order to characterize the behavior of available sensors and take it into account in the developed solution. The performance is then analyzed with an extensive dataset containing representative situations. The proposed solution suits the use of fusion algorithms for deploying Intelligent Transport Systems in urban environments.en
dc.description.sponsorshipThis work was supported in part by Projects CICYT TIN2011-28620-C02-01, CICYT TEC2011-28626-C02-02, CAM CONTEXTS (S2009/TIC-1485), CICYT TRA2010-20255-C03-01, CICYT TRA2011-29454-C03-02 and mobility grants program of Fundación CajaMadriden
dc.description.statusPublicado
dc.format.mimetypeapplication/pdf
dc.identifier.bibliographicCitationMartí, E.D., Martín, D., García, J., Escalera, A. de la , Molina, J.M., Armingol, J.M. (2012). Context-Aided Sensor Fusion for Enhanced Urban Navigation. Sensors, 12 (12), pp. 16802-16837.en
dc.identifier.doihttps://www.doi.org/10.3390/s121216802
dc.identifier.issn1424-8220
dc.identifier.publicationfirstpage16802
dc.identifier.publicationissue12
dc.identifier.publicationlastpage16837
dc.identifier.publicationtitleSensors
dc.identifier.publicationvolume12
dc.identifier.urihttps://hdl.handle.net/10016/16248
dc.language.isoeng
dc.publisherMDPI
dc.relation.projectIDComunidad de Madrid. S2009/TIC-1485/CONTEXTS
dc.relation.projectIDGobierno de España. TEC2011-28626-C02-02
dc.relation.projectIDGobierno de España. TRA2013-48314-C3-1-Res
dc.relation.publisherversionhttp://dx.doi.org/10.3390/s121216802
dc.rights© 2012 by the authors; licensee MDPI, Basel, Switzerland
dc.rights.accessRightsopen access
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/3.0/es/
dc.subject.ecienciaRobótica e Informática Industriales
dc.subject.otherAutonomous navigationen
dc.subject.otherUrban navigationen
dc.subject.otherContext exploitationen
dc.subject.otherIntelligent systemsen
dc.subject.otherMulti-sensor fusionen
dc.titleContext-Aided Sensor Fusion for Enhanced Urban Navigationen
dc.typeresearch article*
dc.type.hasVersionVoR*
dspace.entity.typePublication
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