Highway evaluation of terrain-aided localization using particle filters

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

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 proceeding › Conference contribution

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 language	English (US)
Title of host publication	2008 Proceedings of the ASME Dynamic Systems and Control Conference, DSCC 2008
Pages	471-477
Number of pages	7
Edition	PART A
State	Published - Oct 19 2009
Event	2008 ASME Dynamic Systems and Control Conference, DSCC 2008 - Ann Arbor, MI, United States Duration: Oct 20 2008 → Oct 22 2008

Publication series

Name	2008 Proceedings of the ASME Dynamic Systems and Control Conference, DSCC 2008
Number	PART A

Other

Other	2008 ASME Dynamic Systems and Control Conference, DSCC 2008
Country/Territory	United States
City	Ann Arbor, MI
Period	10/20/08 → 10/22/08

All Science Journal Classification (ASJC) codes

Control and Systems Engineering
Industrial and Manufacturing Engineering
Mechanical Engineering

Cite this

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title = "Highway evaluation of terrain-aided localization using particle filters",

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.",

author = "Dean, {Adam J.} and Vemulapalli, {Pramod K.} and Brennan, {Sean N.}",

year = "2009",

month = oct,

day = "19",

language = "English (US)",

isbn = "9780791843352",

series = "2008 Proceedings of the ASME Dynamic Systems and Control Conference, DSCC 2008",

number = "PART A",

pages = "471--477",

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edition = "PART A",

note = "2008 ASME Dynamic Systems and Control Conference, DSCC 2008 ; Conference date: 20-10-2008 Through 22-10-2008",

}

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 proceeding › Conference contribution

TY - GEN

T1 - Highway evaluation of terrain-aided localization using particle filters

AU - Dean, Adam J.

AU - Vemulapalli, Pramod K.

AU - Brennan, Sean N.

PY - 2009/10/19

Y1 - 2009/10/19

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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M3 - Conference contribution

AN - SCOPUS:70349902965

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T3 - 2008 Proceedings of the ASME Dynamic Systems and Control Conference, DSCC 2008

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BT - 2008 Proceedings of the ASME Dynamic Systems and Control Conference, DSCC 2008

T2 - 2008 ASME Dynamic Systems and Control Conference, DSCC 2008

Y2 - 20 October 2008 through 22 October 2008

ER -

Highway evaluation of terrain-aided localization using particle filters

Abstract

Publication series

Other

All Science Journal Classification (ASJC) codes

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