Vehicle positioning method of multi-sensor information fusion
Shan Gao · Digital Communication · 2013
The authors describe a method of using multi-sensor information fusion technology to improve vehicle positioning accuracy and reliability. Through establishing the mathematical model of gyroscopes,accelerometers and odometer sensor and the mathematical model of federal Kalman filter to fuse the collected data improved the positioning accuracy and reliability of system. Finally,we used MATLAB to simulate the pure inertial navigation system,SINS / GPS / OD integrated navigation system and its various subsystems. The simulate result shows: the system had more positioning accuracy than pure inertial navigation system and capable some fault tolerance.