A hybrid procedure strategy for vehicle localization system: Design and prototyping |
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| Affiliation: | 1. School of Computer Science, Harbin Institute of Technology Shenzhen Graduate School, China;2. Department of Electronics and Information Engineering, Huazhong University of Science and Technology, China;3. Department of Computer Science, Hong Kong Baptist University, Hong Kong;4. United International College, Beijing Normal University, Hong Kong Baptist University, Zhuhai, China;1. Research Center of Precision Sensing and Control, Institute of Automation, Chinese Academy of Sciences, Beijing 100190, China;2. State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing 100190, China;1. Electronics Engineering Graduate Program, Faculty of Gama, University of Brasilia, 72444-240 Gama, DF, Brazil;2. Department of Mechanical Engineering, University of Brasilia, 70910-900 Brasilia, DF, Brazil;3. Industrial and Systems Engineering Graduate Program, Pontifical Catholic University of Parana, 80215-901 Curitiba, PR, Brazil;4. Department of Electrical Engineering, Federal University of Parana (UFPR), 81531-980 Curitiba, PR, Brazil;5. Department of Mathematics, University of Brasilia, 70910-900 Brasilia, DF, Brazil;6. Department of Computer Sciences, University of Brasilia, 70910-900 Brasilia, DF, Brazil |
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| Abstract: | This work presents an estimation strategy that provides a good localization and a highly accurate measurement of the distance run by a public transportation vehicle. To this aim, the vehicle is equipped with a global positioning system (GPS) sensor, to retrieve the geographical position, a wheel speed sensor, to measure the vehicle velocity, and a gyroscope, to measure the yaw velocity.A model-based hybrid procedure has been proposed, based on the GPS signal reliability, guaranteeing robustness for temporary loss of satellite signal. In particular, the algorithm switches between a Kalman filter strategy, when the GPS is available, and an open-loop model-based estimation, when it is not available. The algorithm has been tested both in simulation and experimentally and the results are analyzed. In particular, a prototype has been realized to test the strategy on urban and extra urban circuits in Benevento (Italy). The experiments are conducted on a Lancia Kappa 2.0 vehicle, by means of a dSpace MicroAutoBox electronic control unit. |
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