Vehicle Navigation Systems Involving Inertial Sensors and Odometry Data from On-Board Diagnostics in Non-Gps Applications
Piotr Prusaczyk
Wojskowa Akademia Technicznahttp://orcid.org/0000-0002-1347-1202
Jarosław Panasiuk
Wojskowa Akademia TechnicznaLeszek Baranowski
https://orcid.org/0000-0002-5239-0659
Abstract
This paper explores the applicability of on-board diagnostics data for minimizing inertial navigation errors in vehicles. The results of driving tests were presented and discussed. Knowledge of a vehicle’s exact initial position and orientation was crucial in the navigation process. Orientation errors at the beginning of navigation contributed to positioning errors. GPS data were not processed by the algorithm during navigation.
Keywords:
Odometry, Inertial systems, Vehicle Positioning, Land Navigation, On-Board Diagnostics SystemReferences
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KACZMAREK W., PANASIUK J., PRUSACZYK P., BESSEGHIEUR K. 2017. Formation control of mobile robots under ROS. Proceedings of the 23rd International Conference – Engineering Mechanics, p. 138–141.
MERRIAUX P., DUPUIS Y., VASSEUR P., SAVATIER X. 2014. Wheel odometry-based car localization and tracking on vectorial map. IEEE, 14: 1890-1891.
PRUSACZYK P., PANASIUK J., BARANOWSKI L. 2018a. GPS-free navigation based on using inertial and odometry, data fusion and map matching algorithm. AIP Conference Proceedings 14th International Conference Mechatronic Systems and Materials, 2029(20062).
PRUSACZYK P., PANASIUK J., BARANOWSKI L. 2018b. Opracowanie interfejsu wymiany danych między użytkownikiem a samochodem. Problemy Mechatroniki. Uzbrojenie, Lotnictwo, Inżynieria Bezpieczeństwa, 9(2): 147-156.
TITTERTON D., WESTON J. 2004. Strapdown Inertial Navigation Technology. 2nd Edition. The Institution of Engineering and Technology, Michael Faraday House, Six Hills Way, Stevenage, Herts.
Xsens MTi-G. 2019. http://www.xsens.com.
Prusaczyk, P., Panasiuk, J., & Baranowski, L. (2020). Vehicle Navigation Systems Involving Inertial Sensors and Odometry Data from On-Board Diagnostics in Non-Gps Applications. Technical Sciences, 22(3), 259–266. https://doi.org/10.31648/ts.4380
Jarosław Panasiuk
Wojskowa Akademia Techniczna
Wojskowa Akademia Techniczna
