Effect of PDOP on performance of Kalman Filters for GNSS-based space vehicle position estimation

GPS Solutions ◽  
2017 ◽  
Vol 21 (3) ◽  
pp. 1379-1387 ◽  
Author(s):  
Sanat K. Biswas ◽  
Li Qiao ◽  
Andrew G. Dempster
Keyword(s):  
Kalman Filters ◽  
Space Vehicle ◽  
Position Estimation ◽  
Vehicle Position

scholarly journals Extended Kalman Filter (EKF) Design for Vehicle Position Tracking Using Reliability Function of Radar and Lidar

Sensors ◽  
2020 ◽  
Vol 20 (15) ◽  
pp. 4126 ◽  
Author(s):  
Taeklim Kim ◽  
Tae-Hyoung Park
Keyword(s):  
Kalman Filter ◽  
Sensor Fusion ◽  
Extended Kalman Filter ◽  
Reliability Function ◽  
Position Estimation ◽  
Position Tracking ◽  
Radar Sensors ◽  
Vehicle Position ◽  
Sensor Errors ◽  
Fuzzy Adaptive

Detection and distance measurement using sensors is not always accurate. Sensor fusion makes up for this shortcoming by reducing inaccuracies. This study, therefore, proposes an extended Kalman filter (EKF) that reflects the distance characteristics of lidar and radar sensors. The sensor characteristics of the lidar and radar over distance were analyzed, and a reliability function was designed to extend the Kalman filter to reflect distance characteristics. The accuracy of position estimation was improved by identifying the sensor errors according to distance. Experiments were conducted using real vehicles, and a comparative experiment was done combining sensor fusion using a fuzzy, adaptive measure noise and Kalman filter. Experimental results showed that the study’s method produced accurate distance estimations.

Spot Locator for Autonomous Parking

2009 ◽  
Author(s):  
Nikolai Moshchuk ◽  
Shih-Ken Chen
Keyword(s):  
Position Estimation ◽  
Ultrasonic Sensors ◽  
Test Vehicle ◽  
Detection Range ◽  
Signal Filtering ◽  
Suggested Algorithm ◽  
Parking Spot ◽  
Vehicle Position ◽  
And Performance ◽  
Left Front

For a semi-autonomous or fully-autonomous parking system, detecting adequate parking spot is the first step. Ultrasonic sensor possesses a good compromise between cost and performance since the detection range is very small. This paper describes a parking assist system with two ultrasonic sensors mounted at the left front and right front corners of the vehicle. Special signal filtering and processing is derived. Kinematic observer for the vehicle position estimation during search and parking phases is discussed. The suggested algorithm is implemented in Matlab/Simulink and was verified in a test vehicle.

scholarly journals Model-Based Vehicle Position Estimation Using Millimeter Wave Radar

2019 ◽  
Vol 8 (3) ◽  
pp. 94-98
Author(s):  
Yoshihiro Suzuki ◽  
◽  
Yosuke Sugiura ◽  
Tetsuya Shimamura ◽  
Osamu Isaji ◽  
...  
Keyword(s):  
Millimeter Wave ◽  
Position Estimation ◽  
Millimeter Wave Radar ◽  
Model Based ◽  
Wave Radar ◽  
Vehicle Position
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