[1] Xu Qimin, Li Xu, Li Bin, Song Xianghui, et al. An interacting multiple model-based two-stage Kalman filterfor vehicle positioning [J]. Journal of Southeast University (English Edition), 2017, 33 (2): 177-181. [doi:10.3969/j.issn.1003-7985.2017.02.009]

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An interacting multiple model-based two-stage Kalman filterfor vehicle positioning()

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Journal of Southeast University (English Edition)[ISSN:1003-7985/CN:32-1325/N]

Volumn:

33

Issue:

2017 2

Page:

177-181

Research Field:

Traffic and Transportation Engineering

Publishing date:

2017-06-30

Info

Title:

An interacting multiple model-based two-stage Kalman filterfor vehicle positioning

Author(s):

Xu Qimin¹;  Li Xu¹;  Li Bin²;  Song Xianghui²

¹School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China
² Key Laboratory of Technology on Intelligent Transportation Systems, Research Institute of Highway of Ministry of Transport, Beijing 100088, China

Keywords:

interacting multiple model(IMM);  two-stage filter;  uncertain noise;  vehicle positioning

PACS:

U491

DOI:

10.3969/j.issn.1003-7985.2017.02.009

Abstract:

To address the problem that a general augmented state Kalman filter or a two-stage Kalman filter cannot achieve satisfactory positioning performance when facing uncertain noise of the micro-electro-mechanical system(MEMS)inertial sensors, a novel interacting multiple model-based two-stage Kalman filter(IMM-TSKF)is proposed to adapt to the uncertain inertial sensor noise. Three bias filters are developed based on different noise characteristics to cover a wide range of noise levels. Then, an accurate estimation of biases is calculated by the interacting multiple model algorithm to correct the bias-free filter. Thus, the vehicle positioning system can achieve good performance when suffering from uncertain inertial sensor noise. The experimental results indicate that the average position error of the proposed IMM-TSKF is 25% lower than that of the general TSKF.

References:

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Memo

Memo:

Biographies: Xu Qimin(1989—), male, graduate; Li Xu(corresponding author), male, doctor, associate professor, lixu.mail@163.com.
Foundation items: The National Natural Science Foundation of China(No.61273236), the Scientific Research Foundation of Graduate School of Southeast University(No.YBJJ1637), China Scholarship Council.
Citation: Xu Qimin, Li Xu, Li Bin, et al. An interacting multiple model-based two-stage Kalman filter for vehicle positioning[J].Journal of Southeast University(English Edition), 2017, 33(2):177-181.DOI:10.3969/j.issn.1003-7985.2017.02.009.

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