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Sensors 2015, 15(11), 28807-28825; doi:10.3390/s151128807

Vehicle Position Estimation Based on Magnetic Markers: Enhanced Accuracy by Compensation of Time Delays

Korea Railroad Research Institute, 176 Cheoldo bangmulgwan-ro, Uiwang, Gyeonggi-do 16105, Korea
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Academic Editor: Andreas Hütten
Received: 3 September 2015 / Revised: 26 October 2015 / Accepted: 11 November 2015 / Published: 13 November 2015
(This article belongs to the Special Issue Magnetic Sensor Device-Part 2)
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Abstract

The real-time recognition of absolute (or relative) position and orientation on a network of roads is a core technology for fully automated or driving-assisted vehicles. This paper presents an empirical investigation of the design, implementation, and evaluation of a self-positioning system based on a magnetic marker reference sensing method for an autonomous vehicle. Specifically, the estimation accuracy of the magnetic sensing ruler (MSR) in the up-to-date estimation of the actual position was successfully enhanced by compensating for time delays in signal processing when detecting the vertical magnetic field (VMF) in an array of signals. In this study, the signal processing scheme was developed to minimize the effects of the distortion of measured signals when estimating the relative positional information based on magnetic signals obtained using the MSR. In other words, the center point in a 2D magnetic field contour plot corresponding to the actual position of magnetic markers was estimated by tracking the errors between pre-defined reference models and measured magnetic signals. The algorithm proposed in this study was validated by experimental measurements using a test vehicle on a pilot network of roads. From the results, the positioning error was found to be less than 0.04 m on average in an operational test. View Full-Text
Keywords: localization; magnetic marker; magnetic sensing system (MSS); peak detection; vertical magnetic field (VMF) localization; magnetic marker; magnetic sensing system (MSS); peak detection; vertical magnetic field (VMF)
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. (CC BY 4.0).

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MDPI and ACS Style

Byun, Y.-S.; Jeong, R.-G.; Kang, S.-W. Vehicle Position Estimation Based on Magnetic Markers: Enhanced Accuracy by Compensation of Time Delays. Sensors 2015, 15, 28807-28825.

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