Highway evaluation of terrain-aided localization using particle filters

Adam J. Dean, Pramod K. Vemulapalli, Sean N. Brennan

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Citations (Scopus)

Abstract

This work evaluates a real-time algorithm to localize a vehicle on a highway in the direction of travel without the use of GPS. The algorithm uses a particle filter to estimate vehicle position along a map of road grade using real-time pitch measurements from an in-vehicle pitch sensor as the input. Experiments over 60 kilometers along Interstate I-80 and US Route 220 in Pennsylvania are used to demonstrate the algorithm, observe the speed of convergence, and evaluate several methods of implementation. The results indicate that the method can localize a vehicle with a position accuracy of 5 meters after traveling about 1 kilometer within the 60 kilometer map.

Original languageEnglish (US)
Title of host publication2008 Proceedings of the ASME Dynamic Systems and Control Conference, DSCC 2008
Pages471-477
Number of pages7
EditionPART A
StatePublished - Oct 19 2009
Event2008 ASME Dynamic Systems and Control Conference, DSCC 2008 - Ann Arbor, MI, United States
Duration: Oct 20 2008Oct 22 2008

Publication series

Name2008 Proceedings of the ASME Dynamic Systems and Control Conference, DSCC 2008
NumberPART A

Other

Other2008 ASME Dynamic Systems and Control Conference, DSCC 2008
CountryUnited States
CityAnn Arbor, MI
Period10/20/0810/22/08

Fingerprint

Time measurement
Global positioning system
Sensors
Experiments

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Industrial and Manufacturing Engineering
  • Mechanical Engineering

Cite this

Dean, A. J., Vemulapalli, P. K., & Brennan, S. N. (2009). Highway evaluation of terrain-aided localization using particle filters. In 2008 Proceedings of the ASME Dynamic Systems and Control Conference, DSCC 2008 (PART A ed., pp. 471-477). (2008 Proceedings of the ASME Dynamic Systems and Control Conference, DSCC 2008; No. PART A).
Dean, Adam J. ; Vemulapalli, Pramod K. ; Brennan, Sean N. / Highway evaluation of terrain-aided localization using particle filters. 2008 Proceedings of the ASME Dynamic Systems and Control Conference, DSCC 2008. PART A. ed. 2009. pp. 471-477 (2008 Proceedings of the ASME Dynamic Systems and Control Conference, DSCC 2008; PART A).
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Dean, AJ, Vemulapalli, PK & Brennan, SN 2009, Highway evaluation of terrain-aided localization using particle filters. in 2008 Proceedings of the ASME Dynamic Systems and Control Conference, DSCC 2008. PART A edn, 2008 Proceedings of the ASME Dynamic Systems and Control Conference, DSCC 2008, no. PART A, pp. 471-477, 2008 ASME Dynamic Systems and Control Conference, DSCC 2008, Ann Arbor, MI, United States, 10/20/08.

Highway evaluation of terrain-aided localization using particle filters. / Dean, Adam J.; Vemulapalli, Pramod K.; Brennan, Sean N.

2008 Proceedings of the ASME Dynamic Systems and Control Conference, DSCC 2008. PART A. ed. 2009. p. 471-477 (2008 Proceedings of the ASME Dynamic Systems and Control Conference, DSCC 2008; No. PART A).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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N2 - This work evaluates a real-time algorithm to localize a vehicle on a highway in the direction of travel without the use of GPS. The algorithm uses a particle filter to estimate vehicle position along a map of road grade using real-time pitch measurements from an in-vehicle pitch sensor as the input. Experiments over 60 kilometers along Interstate I-80 and US Route 220 in Pennsylvania are used to demonstrate the algorithm, observe the speed of convergence, and evaluate several methods of implementation. The results indicate that the method can localize a vehicle with a position accuracy of 5 meters after traveling about 1 kilometer within the 60 kilometer map.

AB - This work evaluates a real-time algorithm to localize a vehicle on a highway in the direction of travel without the use of GPS. The algorithm uses a particle filter to estimate vehicle position along a map of road grade using real-time pitch measurements from an in-vehicle pitch sensor as the input. Experiments over 60 kilometers along Interstate I-80 and US Route 220 in Pennsylvania are used to demonstrate the algorithm, observe the speed of convergence, and evaluate several methods of implementation. The results indicate that the method can localize a vehicle with a position accuracy of 5 meters after traveling about 1 kilometer within the 60 kilometer map.

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Dean AJ, Vemulapalli PK, Brennan SN. Highway evaluation of terrain-aided localization using particle filters. In 2008 Proceedings of the ASME Dynamic Systems and Control Conference, DSCC 2008. PART A ed. 2009. p. 471-477. (2008 Proceedings of the ASME Dynamic Systems and Control Conference, DSCC 2008; PART A).