Open Access

Real-Time Implementation of a GIS-Based Localization System for Intelligent Vehicles

EURASIP Journal on Embedded Systems20072007:039350

DOI: 10.1155/2007/39350

Received: 31 October 2006

Accepted: 2 May 2007

Published: 2 July 2007

Abstract

This paper presents a loosely coupled fusion approach that merges GPS data, dead-reckoned sensors, and GIS (geographical information system) data. The GPS latency is compensated for by the DR sensors and the use of an xPPS signal. The fusion of the estimate with the map data is spatial-triggered, while the fusion with the GPS is time-triggered. We present a strategy that relies on pose tracking which is reinitialized when GPS data become incoherent. Particular attention is given to the representation of the road map and to the management of a cache memory for efficiency purposes. We report experiments carried out with our equipped car and a GIS whose characteristics are well adapted to embedded constraints.

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Authors’ Affiliations

(1)
Heudiasyc UMR CNRS 6599, Université de Technologie de Compiègne

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Copyright

© Philippe Bonnifait et al. 2007

This article is published under license to BioMed Central Ltd. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.