GPS-free terrain-based vehicle tracking on road networks

Kshitij Jerath, Sean N. Brennan

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

3 Scopus citations


Prior experiments have confirmed that specific GPS-free terrain-based localization algorithms can perform vehicle tracking in real-time on a single road segment at a time. However, the ability of these algorithms to perform vehicle tracking on large road networks, i.e. across intersections and multiple road segments, has not been verified. In this study, it is shown that it is possible to build upon the existing terrain-based localization algorithms to maintain vehicle tracking in large road networks. A set of estimators based on the Unscented Kaiman Filter framework is used to track the vehicle in a section of a road network, i.e. across a few road segments and an intersection. A multiple model estimation scheme, based on comparing incoming attitude measurements with a terrain map, is used to identify the road segment that the vehicle is currently traveling over. Experiments indicate that it is possible to maintain vehicle tracking as a vehicle travels across an intersection in a road network.

Original languageEnglish (US)
Title of host publication2012 American Control Conference, ACC 2012
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages5
ISBN (Print)9781457710957
StatePublished - 2012
Event2012 American Control Conference, ACC 2012 - Montreal, QC, Canada
Duration: Jun 27 2012Jun 29 2012

Publication series

NameProceedings of the American Control Conference
ISSN (Print)0743-1619


Other2012 American Control Conference, ACC 2012
CityMontreal, QC

All Science Journal Classification (ASJC) codes

  • Electrical and Electronic Engineering


Dive into the research topics of 'GPS-free terrain-based vehicle tracking on road networks'. Together they form a unique fingerprint.

Cite this