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The Future of Automotive Localization Algorithms: Available, reliable, and scalable localization: Anywhere and anytime
Linköpings universitet, Institutionen för systemteknik, Reglerteknik. Linköpings universitet, Tekniska fakulteten. (Automatic Control)
Linköpings universitet, Tekniska fakulteten. Linköpings universitet, Institutionen för systemteknik, Reglerteknik. (Automatic Control)ORCID-id: 0000-0003-3270-171X
2017 (Engelska)Ingår i: IEEE signal processing magazine (Print), ISSN 1053-5888, E-ISSN 1558-0792, Vol. 34, nr 2, s. 60-69Artikel i tidskrift (Refereegranskat) Published
Abstract [en]

Most navigation systems today rely on global navigation satellite systems (gnss), including in cars. With support from odometry and inertial sensors, this is a sufficiently accurate and robust solution, but there are future demands. Autonomous cars require higher accuracy and integrity. Using the car as a sensor probe for road conditions in cloud-based services also sets other kind of requirements. The concept of the Internet of Things requires stand-alone solutions without access to vehicle data. Our vision is a future with both invehicle localization algorithms and after-market products, where the position is computed with high accuracy in gnss-denied environments. We present a localization approach based on a prior that vehicles spend the most time on the road, with the odometer as the primary input. When wheel speeds are not available, we present an approach solely based on inertial sensors, which also can be used as a speedometer. The map information is included in a Bayesian setting using the particle filter (PF) rather than standard map matching. In extensive experiments, the performance without gnss is shown to have basically the same quality as utilizing a gnss sensor. Several topics are treated: virtual measurements, dead reckoning, inertial sensor information, indoor positioning, off-road driving, and multilevel positioning.

Ort, förlag, år, upplaga, sidor
Institute of Electrical and Electronics Engineers (IEEE), 2017. Vol. 34, nr 2, s. 60-69
Nationell ämneskategori
Signalbehandling
Identifikatorer
URN: urn:nbn:se:liu:diva-135786DOI: 10.1109/MSP.2016.2637418ISI: 000397574300008Scopus ID: 2-s2.0-85015356723OAI: oai:DiVA.org:liu-135786DiVA, id: diva2:1083734
Projekt
Wallenberg Autonomous Systems Program
Anmärkning

Funding agencies: Wallenberg Autonomous Systems Program

Tillgänglig från: 2017-03-22 Skapad: 2017-03-22 Senast uppdaterad: 2017-04-21Bibliografiskt granskad

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Karlsson, RickardGustafsson, Fredrik

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