Uncoupled GPS Road Constrained Positioning based on Constrained Kalman Filtering

Pedro V M Simplicio, Nuno Santos, Alexander Costa, José Sanguino

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Abstract

Car navigation systems take advantage of the synergies between the Global Positioning System (GPS) and digital road maps. For this kind of applications the digital road maps can provide a priori information to improve the positioning accuracy.

This paper presents a method for the estimation of the user’s position, based on GPS positioning estimates, constrained to a road map. A low-cost GPS receiver was assumed as being the source of the positioning information. The techniques used in the proposed estimator were developed taking in consideration that the platforms where typically they would be implemented are characterized by having reduced computational capabilities.

The algorithm’s positioning accuracy was characterized based on real data from a low-cost GPS receiver installed in a car. Different scenarios were used in the field trials in order to evaluate the impact of the satellite constellation visibility and geometry in the algorithm’s performance.
Original languageEnglish
Title of host publication13th International Symposium on Wireless Personal Multimedia Communications (WPMC 2010)
Subtitle of host publicationOct 11, 2010 - Oct 14, 2010, Recife, Pernambuco, Brazil
Number of pages5
Publication statusPublished - Oct 2010

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    Simplicio, P. V. M., Santos, N., Costa, A., & Sanguino, J. (2010). Uncoupled GPS Road Constrained Positioning based on Constrained Kalman Filtering. In 13th International Symposium on Wireless Personal Multimedia Communications (WPMC 2010): Oct 11, 2010 - Oct 14, 2010, Recife, Pernambuco, Brazil http://iecom.dee.ufcg.edu.br/~wpmc2010/index.html