The performance analysis of a 3D map embedded INS/GPS fusion algorithm for seamless vehicular navigation in elevated highway environments

Yi Hsuan Lee, Kai-Wei Chiang

Research output: Contribution to journalConference article

Abstract

In this study, a 3D Map Matching (3D MM) algorithm is embedded to current INS/GPS fusion algorithm for enhancing the sustainability and accuracy of INS/GPS integration systems, especially the height component. In addition, this study propose an effective solutions to the limitation of current commercial vehicular navigation systems where they fail to distinguish whether the vehicle is moving on the elevated highway or the road under it because those systems don't have sufficient height resolution. To validate the performance of proposed 3D MM embedded INS/GPS integration algorithms, in the test area, two scenarios were considered, paths under the freeways and streets between tall buildings, where the GPS signal is obstacle or interfered easily. The test platform was mounted on the top of a land vehicle and also systems in the vehicle. The IMUs applied includes SPAN-LCI (0.1 deg/hr gyro bias) from NovAtel, which was used as the reference system, and two MEMS IMUs with different specifications for verifying the performance of proposed algorithm. The preliminary results indicate the proposed algorithms are able to improve the accuracy of positional components in GPS denied environments significantly with the use of INS/GPS integrated systems in SPP mode.

Original languageEnglish
Pages (from-to)491-496
Number of pages6
JournalInternational Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences - ISPRS Archives
Volume39
Publication statusPublished - 2012 Jan 1
Event22nd Congress of the International Society for Photogrammetry and Remote Sensing, ISPRS 2012 - Melbourne, Australia
Duration: 2012 Aug 252012 Sep 1

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navigation
Global positioning system
Navigation
Fusion reactions
GPS
road
performance
integrated system
Tall buildings
Highway systems
motorway
Navigation systems
building
MEMS
sustainability
analysis
Sustainable development
scenario
Specifications
trend

All Science Journal Classification (ASJC) codes

  • Information Systems
  • Geography, Planning and Development

Cite this

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