liu.seSearch for publications in DiVA
Change search
ReferencesLink to record
Permanent link

Direct link
Enhanced positioning in harsh environments
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
2013 (English)Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesisAlternative title
Förbättrad positionering i svåra miljöer (Swedish)
Abstract [en]

Today’s heavy duty vehicles are equipped with safety and comfort systems, e.g. ABS and ESP, which totally or partly take over the vehicle in certain risk situations. When these systems become more and more autonomous more robust positioning is needed. In the right conditions the GPS system provides precise and robust positioning. However, in harsh environments, e.g. dense urban areas and in dense forests, the GPS signals may be affected by multipaths, which means that the signals are reflected on their way from the satellites to the receiver. This can cause large errors in the positioning and thus can give rise to devastating effects for autonomous systems.

This thesis evaluate different methods to enhance a low cost GPS in harsh environments, with focus on mitigating multipaths. Mainly there are four different methods: Regular Unscented Kalman filter, probabilistic multipath mitigation, Unscented Kalman filter with vehicle sensor input and probabilistic multipath mitigation with vehicle sensor input. The algorithms will be tested and validated on real data from both dense forest areas and dense urban areas. The results show that the positioning is enhanced, in particular when integrating the vehicle sensors, compared to a low cost GPS. 

Place, publisher, year, edition, pages
2013. , 66 p.
Keyword [en]
GPS, Multipath, Sensor fusion, Bayesian filtering, Vehicle sensors, Tight coupling
National Category
Control Engineering
URN: urn:nbn:se:liu:diva-94523ISRN: LiTH-ISY-EX--13/4686--SEOAI: diva2:632697
External cooperation
Scania CV AB
Subject / course
Automatic Control
Available from: 2013-06-26 Created: 2013-06-25 Last updated: 2016-08-31Bibliographically approved

Open Access in DiVA

Enhanced_positioning_in_harsh_environments(6873 kB)572 downloads
File information
File name FULLTEXT01.pdfFile size 6873 kBChecksum SHA-512
Type fulltextMimetype application/pdf

Search in DiVA

By author/editor
Glans, Fredrik
By organisation
Automatic ControlThe Institute of Technology
Control Engineering

Search outside of DiVA

GoogleGoogle Scholar
Total: 572 downloads
The number of downloads is the sum of all downloads of full texts. It may include eg previous versions that are now no longer available

Total: 276 hits
ReferencesLink to record
Permanent link

Direct link