Sensors 2012, 12(12), 16802-16837; doi:10.3390/s121216802

Context-Aided Sensor Fusion for Enhanced Urban Navigation

1,* email, 2email, 1email, 2email, 1email and 2email
Received: 8 October 2012; in revised form: 30 November 2012 / Accepted: 3 December 2012 / Published: 6 December 2012
This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
Abstract: The deployment of Intelligent Vehicles in urban environments requires reliable estimation of positioning for urban navigation. The inherent complexity of this kind of environments fosters the development of novel systems which should provide reliable and precise solutions to the vehicle. This article details an advanced GNSS/IMU fusion system based on a context-aided Unscented Kalman filter for navigation in urban conditions. The constrained non-linear filter is here conditioned by a contextual knowledge module which reasons about sensor quality and driving context in order to adapt it to the situation, while at the same time it carries out a continuous estimation and correction of INS drift errors. An exhaustive analysis has been carried out with available data in order to characterize the behavior of available sensors and take it into account in the developed solution. The performance is then analyzed with an extensive dataset containing representative situations. The proposed solution suits the use of fusion algorithms for deploying Intelligent Transport Systems in urban environments.
Keywords: autonomous navigation; multi-sensor fusion; intelligent systems; context exploitation; urban navigation
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MDPI and ACS Style

Martí, E.D.; Martín, D.; García, J.; de la Escalera, A.; Molina, J.M.; Armingol, J.M. Context-Aided Sensor Fusion for Enhanced Urban Navigation. Sensors 2012, 12, 16802-16837.

AMA Style

Martí ED, Martín D, García J, de la Escalera A, Molina JM, Armingol JM. Context-Aided Sensor Fusion for Enhanced Urban Navigation. Sensors. 2012; 12(12):16802-16837.

Chicago/Turabian Style

Martí, Enrique D.; Martín, David; García, Jesús; de la Escalera, Arturo; Molina, José M.; Armingol, José M. 2012. "Context-Aided Sensor Fusion for Enhanced Urban Navigation." Sensors 12, no. 12: 16802-16837.

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