gyroscopyГироскопия и навигацияGiroskopiya i Navigatsiya / Gyroscopy and Navigation0869-70352075-0927AO «Концерн «ЦНИИ «Электроприбор»gyroscopy-579Research ArticleСтатьиПрименение парциальных фильтров в алгоритме навигации с использованием карты местностиДэвидсонП.

Дэвидсон Павел, магистр наук, научный сотрудник.

КолинЮ.

Колин Юсси, доктор наук, старший научный сотрудник.

           

ТакалаЯ.

Такала Ярмо, профессор.

                 

Технический университет г. ТампереFinland2011200320261934858Copyright © Дэвидсон П., Колин Ю., Такала Я., 20262026Дэвидсон П., Колин Ю., Такала Я.Дэвидсон П., Колин Ю., Такала Я.Данная работа распространяется под лицензией Creative Commons Attribution 4.0.This work is licensed under a Creative Commons Attribution 4.0 License.https://www.gyroscopy.ru/jour/article/view/579

Представлен вероятностный подход к задаче навигации объекта по карте местности в рамках байесовской теории. Предлагаемое решение использует парциальные фильтры (particle filter), основанные на последовательном методе Монте-Карло. Полученный алгоритм можно адаптировать для портативных автомобильных навигационных систем реального времени, оборудованных GPS или системой счисления. Надежность и точностные характеристики алгоритма были исследованы с использованием данных, полученных при моделировании и в процессе дорожных испытаний в городских условиях. Статья по докладу на XVII Санкт-Петербургской международной конференции по инерциальным навигационным системам

This article presents the numerical approach to map-matching problem. The proposed solution is based on sequential Monte Carlo method, so called particle filtering. This algorithm can be adapted for implementation on real-time portable car navigation systems equipped with GPS or dead reckoning sensors. The algorithm reliability and accuracy performance was investigated using simulated data and data from real-world driving tests in urban environment.

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The authors declare that there are no conflicts of interest present.