GPS/MEMS INS Data Fusion and Map Matching in Urban Areas

Sensors

Hone-Jay Chu¹  Guang-Je Tsai¹  Kai-Wei Chiang¹ 

[1] Department of Geomatics, National Cheng Kung University, No.1, University Road, Tainan 701, Taiwan;

关键词: map-matching;    GPS;    MEMS IMU;    Kalman filter;   

DOI  :  10.3390/s130911280

来源: mdpi

【 摘 要 】

This paper presents an evaluation of the map-matching scheme of an integrated GPS/INS system in urban areas. Data fusion using a Kalman filter and map matching are effective approaches to improve the performance of navigation system applications based on GPS/MEMS IMUs. The study considers the curve-to-curve matching algorithm after Kalman filtering to correct mismatch and eliminate redundancy. By applying data fusion and map matching, the study easily accomplished mapping of a GPS/INS trajectory onto the road network. The results demonstrate the effectiveness of the algorithms in controlling the INS drift error and indicate the potential of low-cost MEMS IMUs in navigation applications.

【 授权许可】

CC BY   
© 2013 by the authors; licensee MDPI, Basel, Switzerland.