NDLI: EM-IMM based land-vehicle navigation with GPS/INS

Content Provider	IEEE Xplore Digital Library
Author	Dongliang Huang Henry Leung
Copyright Year	2004
Description	Author affiliation: Dept. of Electr. & Comput. Eng., Calgary Univ., Alta., Canada (Dongliang Huang)
Abstract	Integration of the global positioning system (GPS) with the inertial navigation system (INS) is favorable since it provides enhanced positioning accuracy. Its implementation is essentially based on the standard Kalman filter techniques. However, the estimation accuracy is degraded if unknown parameters present in the system model or the model changes with the environment as in the case of intelligent transportation systems (ITS). We propose an expectation-maximization (EM) based interacting multiple model (IMM) method, namely, EM-IMM algorithm, to jointly identify the unknown parameters and to estimate the position information. The IMM is capable of identifying states in jumping dynamic models corresponding to various vehicle driving status, while the EM algorithm is employed to give the maximum likelihood (ML) estimates of the unknown parameters. Compared to the conventional single model Kalman filter based navigation, the proposed algorithm gives improved estimation performance when the land-vehicle drives with changing conditions. Simulation results demonstrate the effectiveness of the proposed method.
Starting Page	624
Ending Page	629
File Size	403106
Page Count	6
File Format	PDF
ISBN	0780385004
DOI	10.1109/ITSC.2004.1398973
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2004-10-03
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Navigation Global Positioning System Statistics Intelligent transportation systems Vehicle dynamics Maximum likelihood estimation State estimation Kalman filters Filtering Computer errors
Content Type	Text
Resource Type	Article

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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