GPS based land vehicle positioning using Gaussian sum filters
Alain Y. Kibangou, A. Monin · IEEE International Conference on Acoustics Speech and Signal Processing · 2008
In this paper, we consider land vehicle positioning in an urban environment. A nonlinear and non-Gaussian model is derived as the process model whereas GPS pseudo-range and odometer measurements are used as observations. A parametric model is proposed for representing the variations of the observation noise covariance matrix. The performances of the derived Gaussian sum filter are evaluated by using experimental data.