Adaptive Kalman Filtering Methods For Low Cost Gps Ins Localization For Autonomous Vehicles

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Adaptive Kalman Filtering Methods for Low-cost GPS/INS Localization for Autonomous Vehicles

Author : Adam Werries
Publisher :
ISBN 13 :
Total Pages : 6 pages
Book Rating : 4.:/5 (115 download)

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Book Synopsis Adaptive Kalman Filtering Methods for Low-cost GPS/INS Localization for Autonomous Vehicles by : Adam Werries

Download or read book Adaptive Kalman Filtering Methods for Low-cost GPS/INS Localization for Autonomous Vehicles written by Adam Werries and published by . This book was released on 2016 with total page 6 pages. Available in PDF, EPUB and Kindle. Book excerpt: For autonomous vehicles, navigation systems must be accurate enough to provide lane-level localization. High-accuracy sensors are available but not cost-effective for production use. Although prone to significant error in poor circumstances, even low-cost GPS systems are able to correct Inertial Navigation Systems to limit the effects of dead reckoning error over short periods between sufficiently accurate GPS updates. Kalman filters are a standard approach for GPS/INS integration, but require careful tuning in order to achieve quality results. This creates a motivation for a Kalman filter which is able to adapt to different sensors and circumstances on its own. Typically for adaptive filters, either the process (Q) or measurement (R) noise covariance matrix of Kalman filters is adapted, and the other is fixed to values estimated a priori. We show that intelligently adapting both matrices in an intelligent manner can provide a more accurate navigation solution.

Advances in Aerospace Guidance, Navigation and Control

Author : Bogusław Dołęga
Publisher : Springer
ISBN 13 : 3319652834
Total Pages : 735 pages
Book Rating : 4.3/5 (196 download)

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Book Synopsis Advances in Aerospace Guidance, Navigation and Control by : Bogusław Dołęga

Download or read book Advances in Aerospace Guidance, Navigation and Control written by Bogusław Dołęga and published by Springer. This book was released on 2017-12-15 with total page 735 pages. Available in PDF, EPUB and Kindle. Book excerpt: The first three CEAS (Counsil of European Aerospace Societies) Specialist Conferences on Guidance, Navigation and Control (CEAS EuroGNC) were held in Munich, Germany in 2011, in Delft, Netherlands in 2013 and in Toulouse, France in 2017. The Warsaw University of Technology (WUT) and the Rzeszow University of Technology (RzUT) accepted the challenge of jointly organizing the 4th edition. The conference aims to promote scientific and technical excellence in the fields of Guidance, Navigation and Control (GNC) in aerospace and other fields of technology. The Conference joins together the industry with the academia research. This book covers four main topics: Guidance and Control, Control Theory Application, Navigation, UAV Control and Dynamic. The papers included focus on the most advanced and actual topics in guidance, navigation and control research areas: · Control theory, analysis, and design · ; Novel navigation, estimation, and tracking methods · Aircraft, spacecraft, missile and UAV guidance, navigation, and control · Flight testing and experimental results · Intelligent control in aerospace applications · Aerospace robotics and unmanned/autonomous systems · Sensor systems for guidance, navigation and control · Guidance, navigation, and control concepts in air traffic control systems For the 4th CEAS Specialist Conference on Guidance, Navigation and Control the International Technical Committee established a formal review process. Each paper was reviewed in compliance with good journal practices by independent and anonymous reviewers. At the end of the review process papers were selected for publication in this book.

Cooperative Localization and Navigation

Author : Chao Gao
Publisher : CRC Press
ISBN 13 : 0429016689
Total Pages : 636 pages
Book Rating : 4.4/5 (29 download)

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Book Synopsis Cooperative Localization and Navigation by : Chao Gao

Download or read book Cooperative Localization and Navigation written by Chao Gao and published by CRC Press. This book was released on 2019-08-21 with total page 636 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book captures the latest results and techniques for cooperative localization and navigation drawn from a broad array of disciplines. It provides the reader with a generic and comprehensive view of modeling, strategies, and state estimation methodologies in that fields. It discusses the most recent research and novel advances in that direction, exploring the design of algorithms and architectures, benefits, and challenging aspects, as well as a potential broad array of disciplines, including wireless communication, indoor localization, robotics, emergency rescue, motion analysis, etc.

Invariant Kalman Filtering

Author : Axel Barrau
Publisher :
ISBN 13 :
Total Pages : 0 pages
Book Rating : 4.:/5 (137 download)

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Book Synopsis Invariant Kalman Filtering by : Axel Barrau

Download or read book Invariant Kalman Filtering written by Axel Barrau and published by . This book was released on 2019 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: The Kalman filter--or, more precisely, the extended Kalman filter (EKF)--is a fundamental engineering tool that is pervasively used in control and robotics and for various estimation tasks in autonomous systems. The recently developed field of invariant extended Kalman filtering uses the geometric structure of the state space and the dynamics to improve the EKF, notably in terms of mathematical guarantees. The methodology essentially applies in the fields of localization, navigation, and simultaneous localization and mapping (SLAM). Although it was created only recently, its remarkable robustness properties have already motivated a real industrial implementation in the aerospace field. This review aims to provide an accessible introduction to the methodology of invariant Kalman filtering and to allow readers to gain insight into the relevance of the method as well as its important differences with the conventional EKF. This should be of interest to readers intrigued by the practical application of mathematical theories and those interested in finding robust, simple-to-implement filters for localization, navigation, and SLAM, notably for autonomous vehicle guidance.

Strapdown Inertial Navigation Technology

Author : David Titterton
Publisher : IET
ISBN 13 : 0863413587
Total Pages : 578 pages
Book Rating : 4.8/5 (634 download)

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Book Synopsis Strapdown Inertial Navigation Technology by : David Titterton

Download or read book Strapdown Inertial Navigation Technology written by David Titterton and published by IET. This book was released on 2004 with total page 578 pages. Available in PDF, EPUB and Kindle. Book excerpt: Inertial navigation is widely used for the guidance of aircraft, missiles ships and land vehicles, as well as in a number of novel applications such as surveying underground pipelines in drilling operations. This book discusses the physical principles of inertial navigation, the associated growth of errors and their compensation. It draws current technological developments, provides an indication of potential future trends and covers a broad range of applications. New chapters on MEMS (microelectromechanical systems) technology and inertial system applications are included.

Cost Oriented Automation 2004

Author : Marek Zaremba
Publisher : Elsevier
ISBN 13 : 9780080443096
Total Pages : 324 pages
Book Rating : 4.4/5 (43 download)

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Book Synopsis Cost Oriented Automation 2004 by : Marek Zaremba

Download or read book Cost Oriented Automation 2004 written by Marek Zaremba and published by Elsevier. This book was released on 2005-08-05 with total page 324 pages. Available in PDF, EPUB and Kindle. Book excerpt: Cost Oriented Automation 2004 addresses a new integration environment that enables the evolution of collaborative e-design paradigm. This design paradigm aims at seamless and dynamic integration of distributed design objects and engineering tools over the internet.

Mobile Mapping Technologies

Author : Pablo Rodríguez-Gonzálvez
Publisher : MDPI
ISBN 13 : 303928018X
Total Pages : 334 pages
Book Rating : 4.0/5 (392 download)

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Book Synopsis Mobile Mapping Technologies by : Pablo Rodríguez-Gonzálvez

Download or read book Mobile Mapping Technologies written by Pablo Rodríguez-Gonzálvez and published by MDPI. This book was released on 2019-12-18 with total page 334 pages. Available in PDF, EPUB and Kindle. Book excerpt: Mobile Mapping technologies have seen a rapid growth of research activity and interest in the last years, due to the increased demand of accurate, dense and geo-referenced 3D data. Their main characteristic is the ability of acquiring 3D information of large areas dynamically. This versatility has expanded their application fields from the civil engineering to a broader range (industry, emergency response, cultural heritage...), which is constantly widening. This increased number of needs, some of them specially challenging, is pushing the Scientific Community, as well as companies, towards the development of innovative solutions, ranging from new hardware / open source software approaches and integration with other devices, up to the adoption of artificial intelligence methods for the automatic extraction of salient features and quality assessment for performance verification The aim of the present book is to cover the most relevant topics and trends in Mobile Mapping Technology, and also to introduce the new tendencies of this new paradigm of geospatial science.

Global Positioning Systems, Inertial Navigation, and Integration

Author : Mohinder S. Grewal
Publisher : Wiley-Interscience
ISBN 13 :
Total Pages : 426 pages
Book Rating : 4.3/5 (91 download)

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Book Synopsis Global Positioning Systems, Inertial Navigation, and Integration by : Mohinder S. Grewal

Download or read book Global Positioning Systems, Inertial Navigation, and Integration written by Mohinder S. Grewal and published by Wiley-Interscience. This book was released on 2001 with total page 426 pages. Available in PDF, EPUB and Kindle. Book excerpt: The only comprehensive guide to Kalman filtering and its applications to real-world GPS/INS problems Written by recognized authorities in the field, this book provides engineers, computer scientists, and others with a working familiarity with the theory and contemporary applications of Global Positioning Systems (GPS), Inertial Navigational Systems, and Kalman filters. Throughout, the focus is on solving real-world problems, with an emphasis on the effective use of state-of-the-art integration techniques for those systems, especially the application of Kalman filtering. To that end, the authors explore the various subtleties, common failures, and inherent limitations of the theory as it applies to real-world situations, and provide numerous detailed application examples and practice problems, including GPS-aided INS, modeling of gyros and accelerometers, and WAAS and LAAS. Drawing upon their many years of experience with GPS, INS, and the Kalman filter, the authors present numerous design and implementation techniques not found in other professional references, including original techniques for: * Representing the problem in a mathematical model * Analyzing the performance of the GPS sensor as a function of model parameters * Implementing the mechanization equations in numerically stable algorithms * Assessing computation requirements * Testing the validity of results * Monitoring GPS, INS, and Kalman filter performance in operation In order to enhance comprehension of the subjects covered, the authors have included software in MATLAB, demonstrating the workings of the GPS, INS, and filter algorithms. In addition to showing the Kalman filter in action, the software also demonstrates various practical aspects of finite word length arithmetic and the need for alternative algorithms to preserve result accuracy. An Instructor's Manual presenting detailed solutions to all the problems in the book is available from the Wiley editorial department.

Robust Vehicle Localization Using GPS, In-vehicle Camera, Magnetic Guidance and Kalman Filtering

Author : Anthony J. Mangus
Publisher :
ISBN 13 :
Total Pages : 97 pages
Book Rating : 4.:/5 (875 download)

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Book Synopsis Robust Vehicle Localization Using GPS, In-vehicle Camera, Magnetic Guidance and Kalman Filtering by : Anthony J. Mangus

Download or read book Robust Vehicle Localization Using GPS, In-vehicle Camera, Magnetic Guidance and Kalman Filtering written by Anthony J. Mangus and published by . This book was released on 2013 with total page 97 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Creating Autonomous Vehicle Systems

Author : Shaoshan Liu
Publisher : Morgan & Claypool Publishers
ISBN 13 : 1681731673
Total Pages : 285 pages
Book Rating : 4.6/5 (817 download)

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Book Synopsis Creating Autonomous Vehicle Systems by : Shaoshan Liu

Download or read book Creating Autonomous Vehicle Systems written by Shaoshan Liu and published by Morgan & Claypool Publishers. This book was released on 2017-10-25 with total page 285 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book is the first technical overview of autonomous vehicles written for a general computing and engineering audience. The authors share their practical experiences of creating autonomous vehicle systems. These systems are complex, consisting of three major subsystems: (1) algorithms for localization, perception, and planning and control; (2) client systems, such as the robotics operating system and hardware platform; and (3) the cloud platform, which includes data storage, simulation, high-definition (HD) mapping, and deep learning model training. The algorithm subsystem extracts meaningful information from sensor raw data to understand its environment and make decisions about its actions. The client subsystem integrates these algorithms to meet real-time and reliability requirements. The cloud platform provides offline computing and storage capabilities for autonomous vehicles. Using the cloud platform, we are able to test new algorithms and update the HD map—plus, train better recognition, tracking, and decision models. This book consists of nine chapters. Chapter 1 provides an overview of autonomous vehicle systems; Chapter 2 focuses on localization technologies; Chapter 3 discusses traditional techniques used for perception; Chapter 4 discusses deep learning based techniques for perception; Chapter 5 introduces the planning and control sub-system, especially prediction and routing technologies; Chapter 6 focuses on motion planning and feedback control of the planning and control subsystem; Chapter 7 introduces reinforcement learning-based planning and control; Chapter 8 delves into the details of client systems design; and Chapter 9 provides the details of cloud platforms for autonomous driving. This book should be useful to students, researchers, and practitioners alike. Whether you are an undergraduate or a graduate student interested in autonomous driving, you will find herein a comprehensive overview of the whole autonomous vehicle technology stack. If you are an autonomous driving practitioner, the many practical techniques introduced in this book will be of interest to you. Researchers will also find plenty of references for an effective, deeper exploration of the various technologies.

Kalman Filtering

Author : Mohinder S. Grewal
Publisher : John Wiley & Sons
ISBN 13 : 111898496X
Total Pages : 639 pages
Book Rating : 4.1/5 (189 download)

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Book Synopsis Kalman Filtering by : Mohinder S. Grewal

Download or read book Kalman Filtering written by Mohinder S. Grewal and published by John Wiley & Sons. This book was released on 2015-02-02 with total page 639 pages. Available in PDF, EPUB and Kindle. Book excerpt: The definitive textbook and professional reference on Kalman Filtering – fully updated, revised, and expanded This book contains the latest developments in the implementation and application of Kalman filtering. Authors Grewal and Andrews draw upon their decades of experience to offer an in-depth examination of the subtleties, common pitfalls, and limitations of estimation theory as it applies to real-world situations. They present many illustrative examples including adaptations for nonlinear filtering, global navigation satellite systems, the error modeling of gyros and accelerometers, inertial navigation systems, and freeway traffic control. Kalman Filtering: Theory and Practice Using MATLAB, Fourth Edition is an ideal textbook in advanced undergraduate and beginning graduate courses in stochastic processes and Kalman filtering. It is also appropriate for self-instruction or review by practicing engineers and scientists who want to learn more about this important topic.

Geographic Information Systems in Geospatial Intelligence

Author : Rustam B. Rustamov
Publisher : BoD – Books on Demand
ISBN 13 : 1838805044
Total Pages : 187 pages
Book Rating : 4.8/5 (388 download)

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Book Synopsis Geographic Information Systems in Geospatial Intelligence by : Rustam B. Rustamov

Download or read book Geographic Information Systems in Geospatial Intelligence written by Rustam B. Rustamov and published by BoD – Books on Demand. This book was released on 2020 with total page 187 pages. Available in PDF, EPUB and Kindle. Book excerpt: Earth observation systems, by use of space science and technology advances, present a large-scale opportunity for applying remote sensing methods with geographical information system (GIS) developments. Integrating these two methods makes it possible to achieve high-accuracy satellite data processing. This book considers aspects of GIS technology applications with space science technology and innovation approaches. It examines the potential of Earth observation satellite systems as well as existing challenges and problems in the field. Chapters cover topics such as RGB-D sensors for autonomous pothole detection, machine learning in GIS, interferometric synthetic aperture radar (InSAR) modeling, and others.

Kalman Filtering and Information Fusion

Author : Hongbin Ma
Publisher : Springer Nature
ISBN 13 : 9811508062
Total Pages : 295 pages
Book Rating : 4.8/5 (115 download)

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Book Synopsis Kalman Filtering and Information Fusion by : Hongbin Ma

Download or read book Kalman Filtering and Information Fusion written by Hongbin Ma and published by Springer Nature. This book was released on 2019-11-27 with total page 295 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book addresses a key technology for digital information processing: Kalman filtering, which is generally considered to be one of the greatest discoveries of the 20th century. It introduces readers to issues concerning various uncertainties in a single plant, and to corresponding solutions based on adaptive estimation. Further, it discusses in detail the issues that arise when Kalman filtering technology is applied in multi-sensor systems and/or multi-agent systems, especially when various sensors are used in systems like intelligent robots, autonomous cars, smart homes, smart buildings, etc., requiring multi-sensor information fusion techniques. Furthermore, when multiple agents (subsystems) interact with one another, it produces coupling uncertainties, a challenging issue that is addressed here with the aid of novel decentralized adaptive filtering techniques.Overall, the book’s goal is to provide readers with a comprehensive investigation into the challenging problem of making Kalman filtering work well in the presence of various uncertainties and/or for multiple sensors/components. State-of-art techniques are introduced, together with a wealth of novel findings. As such, it can be a good reference book for researchers whose work involves filtering and applications; yet it can also serve as a postgraduate textbook for students in mathematics, engineering, automation, and related fields.To read this book, only a basic grasp of linear algebra and probability theory is needed, though experience with least squares, navigation, robotics, etc. would definitely be a plus.

The Intelligent Environment Friendly Vehicle

Author : Keqiang Li
Publisher : Springer Nature
ISBN 13 : 9811948518
Total Pages : 510 pages
Book Rating : 4.8/5 (119 download)

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Book Synopsis The Intelligent Environment Friendly Vehicle by : Keqiang Li

Download or read book The Intelligent Environment Friendly Vehicle written by Keqiang Li and published by Springer Nature. This book was released on 2023-07-04 with total page 510 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book elaborates the fundamentals, new concepts and key technologies of the Intelligent Environment Friendly Vehicle (i-EFV), and the engineering implementation of these technologies such as structure sharing, data fusion and control coordination. With lots of illustrations, it summaries the authors’ research in the field of automotive intelligent technology and electric vehicle control for the past twenty years, enabling readers to grasp the essence of automotive power revolution, intelligent revolution and information revolution. Opening up new scientific horizons and fostering innovative thinking, the book is a valuable resource for researchers as well as undergraduate and graduate students.

Next-gen Urban Buses

Author : Tsung-Ming Hsu
Publisher : SAE International
ISBN 13 : 1468608479
Total Pages : 26 pages
Book Rating : 4.4/5 (686 download)

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Book Synopsis Next-gen Urban Buses by : Tsung-Ming Hsu

Download or read book Next-gen Urban Buses written by Tsung-Ming Hsu and published by SAE International. This book was released on 2024-08-26 with total page 26 pages. Available in PDF, EPUB and Kindle. Book excerpt: The deployment of autonomous urban buses brings with it the hope of addressing concerns associated with safety and aging drivers. However, issues related autonomous vehicle (AV) positioning and interactions with road users pose challenges to realizing these benefits. This report covers unsettled issues and potential solutions related to the operation of autonomous urban buses, including the crucial need for all-weather localization capabilities to ensure reliable navigation in diverse environmental conditions. Additionally, minimizing the gap between AVs and platforms during designated parking requires precise localization. Next-gen Urban Buses: Autonomy and Connectivity addresses the challenge of predicting the intentions of pedestrians, vehicles, and obstacles for appropriate responses, the detection of traffic police gestures to ensure compliance with traffic signals, and the optimization of traffic performance through urban platooning—including the need for advanced communication and coordination technology to maintain stability and reliability in high-traffic scenarios. Click here to access the full SAE EDGETM Research Report portfolio. 9781468608489 9781468608472 https://doi.org/10.4271/EPR2024019

Simultaneous Localization and Mapping

Author : Zhan Wang
Publisher : World Scientific
ISBN 13 : 981435032X
Total Pages : 208 pages
Book Rating : 4.8/5 (143 download)

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Book Synopsis Simultaneous Localization and Mapping by : Zhan Wang

Download or read book Simultaneous Localization and Mapping written by Zhan Wang and published by World Scientific. This book was released on 2011 with total page 208 pages. Available in PDF, EPUB and Kindle. Book excerpt: Simultaneous localization and mapping (SLAM) is a process where an autonomous vehicle builds a map of an unknown environment while concurrently generating an estimate for its location. This book is concerned with computationally efficient solutions to the large scale SLAM problems using exactly sparse Extended Information Filters (EIF). The invaluable book also provides a comprehensive theoretical analysis of the properties of the information matrix in EIF-based algorithms for SLAM. Three exactly sparse information filters for SLAM are described in detail, together with two efficient and exact methods for recovering the state vector and the covariance matrix. Proposed algorithms are extensively evaluated both in simulation and through experiments.

Introduction to AI Robotics, second edition

Author : Robin R. Murphy
Publisher : MIT Press
ISBN 13 : 026203848X
Total Pages : 649 pages
Book Rating : 4.2/5 (62 download)

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Book Synopsis Introduction to AI Robotics, second edition by : Robin R. Murphy

Download or read book Introduction to AI Robotics, second edition written by Robin R. Murphy and published by MIT Press. This book was released on 2019-10-01 with total page 649 pages. Available in PDF, EPUB and Kindle. Book excerpt: A comprehensive survey of artificial intelligence algorithms and programming organization for robot systems, combining theoretical rigor and practical applications. This textbook offers a comprehensive survey of artificial intelligence (AI) algorithms and programming organization for robot systems. Readers who master the topics covered will be able to design and evaluate an artificially intelligent robot for applications involving sensing, acting, planning, and learning. A background in AI is not required; the book introduces key AI topics from all AI subdisciplines throughout the book and explains how they contribute to autonomous capabilities. This second edition is a major expansion and reorganization of the first edition, reflecting the dramatic advances made in AI over the past fifteen years. An introductory overview provides a framework for thinking about AI for robotics, distinguishing between the fundamentally different design paradigms of automation and autonomy. The book then discusses the reactive functionality of sensing and acting in AI robotics; introduces the deliberative functions most often associated with intelligence and the capability of autonomous initiative; surveys multi-robot systems and (in a new chapter) human-robot interaction; and offers a “metaview” of how to design and evaluate autonomous systems and the ethical considerations in doing so. New material covers locomotion, simultaneous localization and mapping, human-robot interaction, machine learning, and ethics. Each chapter includes exercises, and many chapters provide case studies. Endnotes point to additional reading, highlight advanced topics, and offer robot trivia.