Mixture Particle Filter for Low Cost INS/Odometer/GPS Integration in Land Vehicles

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Executive Summary

Global Positioning System (GPS) is currently the common solution for land vehicle positioning. However, GPS signals may suffer from blockage in urban canyons and tunnels, and the positioning information provided is interrupted. One solution to have continuous vehicle positioning is to integrate GPS with an Inertial Measurement Unit (IMU) and the navigation solution is achieved using an estimation technique which is traditionally based on Kalman Filter (KF). In order to have a low cost navigation solution for land vehicles, MEMS-based inertial sensors are used. To achieve a better performance during GPS outages, the speed derived from the vehicle odometer is used as a measurement update.

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