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Published in:
Capabilities of Humans for Vehicle Guidance Read chapter Read first chapter

2016 | OriginalPaper | Chapter

25. Data Fusion for Precise Localization

Authors : Nico Steinhardt, Stefan Leinen

Published in: Handbook of Driver Assistance Systems

Publisher: Springer International Publishing

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Abstract

In current vehicles, redundant sensors with heterogeneous measurement principles are applied in increasing numbers. Taking the advantage of these already existing redundancies, the concept of a central virtual sensor for the estimation of kinematic vehicle properties is created, based on a set of close-to-series sensors, consisting of a MEMS inertial measurement unit, a GPS receiver, and odometry sensors. Furthermore, a real-time capable implementation of this architecture is realized, using a linearized Error-State-Space Kalman filter. This fusion filter is enhanced by a correction algorithm for measurement latencies of multiple sensors and a two-step plausibilization of raw measurement data. In addition, an integrated assessment of the data quality is implemented. It describes data consistency using an integrity measure and data accuracy with a virtual datasheet.

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Metadata
Title
Data Fusion for Precise Localization
Authors
Nico Steinhardt
Stefan Leinen
Copyright Year
2016
Publisher
Springer International Publishing
Book
Handbook of Driver Assistance Systems

Print ISBN: 978-3-319-12351-6

Electronic ISBN: 978-3-319-12352-3

Copyright Year: 2016

DOI
https://doi.org/10.1007/978-3-319-12352-3_26

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