Improving the Reliability of GPS and GLONASS Navigation Solution in Urban Canyons using a Tuned Kalman Filter
Publish Year: 1398
نوع سند: مقاله ژورنالی
زبان: English
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شناسه ملی سند علمی:
JR_JASTI-12-2_002
تاریخ نمایه سازی: 8 مرداد 1402
Abstract:
Abstract: Urban canyon is categorized as hard environment for positioning of a dynamic vehicle due to low number and also bad configuration of in-view satellites. In this paper, a tuning procedure is proposed to adjust the important factors in Kalman Filter (KF) using Genetic Algorithm (GA). The authors tested the algorithm on a dynamic vehicle in an urban canyon with hard condition and compared the results with traditional KF and Weighted Least Square (WLS) methods. The outputs showed that this algorithm could be more reliable more than ۱۱۴% and ۶۱% against WLS and traditional KF. ---------------------------------------------------------------------------------------Abstract: Urban canyon is categorized as hard environment for positioning of a dynamic vehicle due to low number and also bad configuration of in-view satellites. In this paper, a tuning procedure is proposed to adjust the important factors in Kalman Filter (KF) using Genetic Algorithm (GA). The authors tested the algorithm on a dynamic vehicle in an urban canyon with hard condition and compared the results with traditional KF and Weighted Least Square (WLS) methods. The outputs showed that this algorithm could be more reliable more than ۱۱۴% and ۶۱% against WLS and traditional KF.
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Authors
Ali Khavari
Department of Electrical Engineering, Iran University of Science and Technology
S. Mohammad Reza Moosavi
Department of Electrical Engineering, Iran University of Science and Technology
Amir Tabatabaee
Samara National Research University, ۳۴, Moskovskoye shosse, Samara, ۴۴۳۰۸۶, Russia
Hadi Shahriyar Shahhosseini
Department of Electrical Engineering, Iran University of Science and Technology
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