Context-Aided Sensor Fusion for Enhanced Urban Navigation

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dc.contributor.author Marti Muñoz, Enrique David
dc.contributor.author Martín, David
dc.contributor.author García, Jesús
dc.contributor.author Escalera Hueso, Arturo de la
dc.contributor.author Molina, José M.
dc.contributor.author Armingol Moreno, José María
dc.date.accessioned 2013-02-12T12:12:16Z
dc.date.available 2013-02-12T12:12:16Z
dc.date.issued 2012-12
dc.identifier.bibliographicCitation Martí, 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.
dc.identifier.issn 1424-8220
dc.identifier.uri http://hdl.handle.net/10016/16248
dc.description.abstract The 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.
dc.description.sponsorship This 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 CajaMadrid
dc.format.mimetype application/pdf
dc.language.iso eng
dc.publisher MDPI
dc.rights © 2012 by the authors; licensee MDPI, Basel, Switzerland
dc.rights.uri http://creativecommons.org/licenses/by-nc-nd/3.0/es/
dc.subject.other Autonomous navigation
dc.subject.other Urban navigation
dc.subject.other Context exploitation
dc.subject.other Intelligent systems
dc.subject.other Multi-sensor fusion
dc.title Context-Aided Sensor Fusion for Enhanced Urban Navigation
dc.type article
dc.description.status Publicado
dc.relation.publisherversion http://dx.doi.org/10.3390/s121216802
dc.subject.eciencia Robótica e Informática Industrial
dc.identifier.doi https://www.doi.org/10.3390/s121216802
dc.rights.accessRights openAccess
dc.relation.projectID Comunidad de Madrid. S2009/TIC-1485/CONTEXTS
dc.relation.projectID Gobierno de España. TEC2011-28626-C02-02
dc.relation.projectID Gobierno de España. TRA2013-48314-C3-1-R
dc.type.version publishedVersion
dc.identifier.publicationfirstpage 16802
dc.identifier.publicationissue 12
dc.identifier.publicationlastpage 16837
dc.identifier.publicationtitle Sensors
dc.identifier.publicationvolume 12
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