A Kalman Filter application for GNSS error correction in Intelligent Vehicles

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dc.contributor.advisor Martín Gómez, David
dc.contributor.author Fraile Rodríguez, Manuel
dc.date.accessioned 2021-01-13T09:02:07Z
dc.date.available 2021-01-13T09:02:07Z
dc.date.issued 2020-02-19
dc.date.submitted 2020-03-03
dc.identifier.uri http://hdl.handle.net/10016/31696
dc.description.abstract This proposes a Kalman Filter application for solving errors in the positioning of a moving vehicle in an everyday urban environment that is also cost effective. The GNSS sensor is a NOVATEL FlexPak-G2. It is installed in a car and takes measurements for several kilometres providing a wide range of data from which the position and the velocity are used to construct the model. The velocity is taken as a reference and three models are proposed in order to solve the inconsistencies of the GNSS sensor. The first model uses a Kalman Filter and is based on the hypothesis of a Rectilinear Uniform Motion. The second model uses a Kalman Filter and is based in the hypothesis of a Uniformly Accelerated Rectilinear Motion. The last of the three models uses an Unscented Kalman Filter and is based on the hypothesis of a Uniformly Accelerated Rectilinear Motion. At the end of the thesis, the three models will be compared and discussed in order to conclude the one that is best for the desired solution.
dc.language.iso eng
dc.rights Atribución-NoComercial-SinDerivadas 3.0 España
dc.rights.uri http://creativecommons.org/licenses/by-nc-nd/3.0/es/
dc.subject.other Kalman Filter
dc.subject.other GNSS
dc.subject.other Intelligent Vehicles
dc.subject.other Singularity
dc.subject.other Correction
dc.title A Kalman Filter application for GNSS error correction in Intelligent Vehicles
dc.type bachelorThesis
dc.subject.eciencia Electrónica
dc.subject.eciencia Robótica e Informática Industrial
dc.rights.accessRights openAccess
dc.description.degree Ingeniería Electrónica Industrial y Automática
dc.contributor.departamento Universidad Carlos III de Madrid. Departamento de Ingeniería de Sistemas y Automática
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