A Hybrid Fusion Algorithm for Integrated INS/UWB Navigation and Its Application in Vehicle Platoon Formation Control
Yingmao Lu, Jianjun Yi, Liang He, Xiaomin Zhu, Pengfei Liu
Available Online February 2018.
- https://doi.org/10.2991/csece-18.2018.33How to use a DOI?
- UWB (Ultra Wide Band); INS (inertial navigation system); hybrid fusion algorithm; vehicle platoon formation control
- The vehicle positioning technology is playing an important role in Cooperative Vehicle Infrastructure System (CVIS). In those single positioning modes, the precision of wireless positioning is greatly affected by the environment. However, the accumulative errors of inertial navigation system (INS) and positioning can not be eliminated. In this paper, a hybrid fusion algorithm based on UWB (Ultra Wide Band) and INS is proposed and applied to the vehicle platoon formation control system. The hybrid fusion algorithm can overcome the shortcomings of non-line-of-sight (NLOS) problem in UWB positioning algorithm and accumulative errors of INS. This algorithm can also significantly enhance positioning accuracy in vehicle platoon formation control. The application scene consists of three types: road scene, junction scene and parking lot scene. The hybrid fusion algorithm can be used in combination with different scenarios to ensure the smooth operation of the vehicle platoon.
- Open Access
- This is an open access article distributed under the CC BY-NC license.
Cite this article
TY - CONF AU - Yingmao Lu AU - Jianjun Yi AU - Liang He AU - Xiaomin Zhu AU - Pengfei Liu PY - 2018/02 DA - 2018/02 TI - A Hybrid Fusion Algorithm for Integrated INS/UWB Navigation and Its Application in Vehicle Platoon Formation Control PB - Atlantis Press SP - 157 EP - 161 SN - 2352-538X UR - https://doi.org/10.2991/csece-18.2018.33 DO - https://doi.org/10.2991/csece-18.2018.33 ID - Lu2018/02 ER -