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

• Autorzy: Prusaczyk Piotr , Baranowski Leszek , Panasiuk Jarosław

Identyfikatory

DOI

10.31648/ts.4380

• Języki publikacji: EN

Abstrakty

EN

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

EN

odometry; inertial systems; vehicle positioning; land navigation; on-board diagnostics system

• Wydawca: Wydawnictwo Uniwersytetu Warmińsko-Mazurskiego w Olsztynie
• Czasopismo: Technical Sciences / University of Warmia and Mazury in Olsztyn
• Rocznik: 2019
• Tom: nr 22(3)
• Strony: 263--270
• Opis fizyczny: Bibliogr. 7 poz., rys., wykr.

Twórcy

autor

Prusaczyk Piotr

• Faculty of Mechatronics and Aerospace, Military University of Technology in Warsaw

autor

Baranowski Leszek

• Faculty of Mechatronics and Aerospace, Military University of Technology in Warsaw

autor

Panasiuk Jarosław

• Faculty of Mechatronics and Aerospace, Military University of Technology in Warsaw

Bibliografia

• 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.
• Titt erton 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.

Uwagi

Opracowanie rekordu ze środków MNiSW, umowa Nr 461252 w ramach programu "Społeczna odpowiedzialność nauki" - moduł: Popularyzacja nauki i promocja sportu (2020).