Vehicle Navigation Systems Involving Inertial Sensors and Odometry Data from On-Board Diagnostics in Non-Gps Applications

Piotr Prusaczyk

Wojskowa Akademia Techniczna
http://orcid.org/0000-0002-1347-1202

Jarosław Panasiuk

Wojskowa Akademia Techniczna

Leszek Baranowski


https://orcid.org/0000-0002-5239-0659


Abstrakt

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.


Słowa kluczowe:

Odometry, Inertial systems, Vehicle Positioning, Land Navigation, On-Board Diagnostics System


GAURI M., PARCHANDEKAR S.K., TAHIR M. 2017. Implementation and Validation of K Line (ISO 9141) Protocol for Diagnostic Application. International Research Journal of Engineering and Technology, 4(7): 713-708.
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.

Opublikowane
23-03-2020

Cited By /
Share

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

Piotr Prusaczyk 
Wojskowa Akademia Techniczna
http://orcid.org/0000-0002-1347-1202
Jarosław Panasiuk 
Wojskowa Akademia Techniczna
Leszek Baranowski 

https://orcid.org/0000-0002-5239-0659



Licencja

Creative Commons License

Utwór dostępny jest na licencji Creative Commons Uznanie autorstwa 4.0 Międzynarodowe.





-->