<p>With the simple means of a digitized map and the wheel speed signals, it is possible to position a vehicle with an accuracy comparable to GPS. The positioning problem is a non-linear filtering problem and a particle filter has been applied to solve it. Two new approaches studied are the Auxiliary Particle Filter (APF), that aims at lowerering the variance of the error, and Rao-Blackwellization that exploits the linearities in the model. The results show that these methods require problems of higher complexity to fully utilize their advantages.</p><p>Another aspect in this thesis has been to handle off-road driving scenarios, using dead reckoning. An off road detection mechanism has been developed and the results show that off-road driving can be detected accurately. The algorithm has been successfully implemented on a hand-held computer by quantizing the particle filter while keeping good filter performance.</p>
| Identifer | oai:union.ndltd.org:UPSALLA/oai:DiVA.org:liu-1493 |
| Date | January 2002 |
| Creators | Svenzén, Niklas |
| Publisher | Linköping University, Department of Electrical Engineering, Institutionen för systemteknik |
| Source Sets | DiVA Archive at Upsalla University |
| Language | English |
| Detected Language | English |
| Type | Student thesis, text |
| Relation | LiTH-ISY-Ex, ; 3297 |
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