A Low-Cost Underground Garage Navigation Switching Algorithm Based on Kalman Filtering
Modern parking lots have gradually developed into underground garages to improve the efficient use of space. However, the complex design of parking lots also increases the demands on vehicle navigation. The traditional method of navigation switching only uses satellite signals. After the Position Di...
| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2019-04-01
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| Series: | Sensors |
| Subjects: | |
| Online Access: | https://www.mdpi.com/1424-8220/19/8/1861 |
| _version_ | 1818038579209699328 |
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| author | Ningbo Li Yanbin Gao Ye Wang Zhejun Liu Lianwu Guan Xin Liu |
| author_facet | Ningbo Li Yanbin Gao Ye Wang Zhejun Liu Lianwu Guan Xin Liu |
| author_sort | Ningbo Li |
| collection | DOAJ |
| description | Modern parking lots have gradually developed into underground garages to improve the efficient use of space. However, the complex design of parking lots also increases the demands on vehicle navigation. The traditional method of navigation switching only uses satellite signals. After the Position Dilution Of Precision (PDOP) of satellite signals is over the limit, vehicle navigation will enter indoor mode. It is not suitable for vehicles in underground garages to switch modes with a fast-response system. Therefore, this paper chooses satellite navigation, inertial navigation, and the car system to combine navigation. With the condition that the vehicle can freely travel through indoor and outdoor environments, high-precision outdoor environment navigation is used to provide the initial state of underground navigation. The position of the vehicle underground is calculated by the Dead Reckoning (DR) navigation system. This paper takes advantage of the Extended Kalman Filter (EKF) algorithm to provide two freely switchable navigation modes for vehicles in ground and underground garages. The continuity, robustness, fast response, and low cost of the indoor and outdoor switching navigation methods are verified in real-time systems. |
| first_indexed | 2024-12-10T07:44:59Z |
| format | Article |
| id | doaj.art-af602e30767645b3bc692bb74f5f160b |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-12-10T07:44:59Z |
| publishDate | 2019-04-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-af602e30767645b3bc692bb74f5f160b2022-12-22T01:57:12ZengMDPI AGSensors1424-82202019-04-01198186110.3390/s19081861s19081861A Low-Cost Underground Garage Navigation Switching Algorithm Based on Kalman FilteringNingbo Li0Yanbin Gao1Ye Wang2Zhejun Liu3Lianwu Guan4Xin Liu5Collage of Automation, Harbin Engineering University, Harbin 150001, ChinaCollage of Automation, Harbin Engineering University, Harbin 150001, ChinaCollage of Automation, Harbin Engineering University, Harbin 150001, ChinaCollage of Automation, Harbin Engineering University, Harbin 150001, ChinaCollage of Automation, Harbin Engineering University, Harbin 150001, ChinaSchool of Aeronautics Engineering, Harbin Institute of Technology, Harbin 150006, ChinaModern parking lots have gradually developed into underground garages to improve the efficient use of space. However, the complex design of parking lots also increases the demands on vehicle navigation. The traditional method of navigation switching only uses satellite signals. After the Position Dilution Of Precision (PDOP) of satellite signals is over the limit, vehicle navigation will enter indoor mode. It is not suitable for vehicles in underground garages to switch modes with a fast-response system. Therefore, this paper chooses satellite navigation, inertial navigation, and the car system to combine navigation. With the condition that the vehicle can freely travel through indoor and outdoor environments, high-precision outdoor environment navigation is used to provide the initial state of underground navigation. The position of the vehicle underground is calculated by the Dead Reckoning (DR) navigation system. This paper takes advantage of the Extended Kalman Filter (EKF) algorithm to provide two freely switchable navigation modes for vehicles in ground and underground garages. The continuity, robustness, fast response, and low cost of the indoor and outdoor switching navigation methods are verified in real-time systems.https://www.mdpi.com/1424-8220/19/8/1861parking lotpositioningindoor and outdoor switching navigation method |
| spellingShingle | Ningbo Li Yanbin Gao Ye Wang Zhejun Liu Lianwu Guan Xin Liu A Low-Cost Underground Garage Navigation Switching Algorithm Based on Kalman Filtering Sensors parking lot positioning indoor and outdoor switching navigation method |
| title | A Low-Cost Underground Garage Navigation Switching Algorithm Based on Kalman Filtering |
| title_full | A Low-Cost Underground Garage Navigation Switching Algorithm Based on Kalman Filtering |
| title_fullStr | A Low-Cost Underground Garage Navigation Switching Algorithm Based on Kalman Filtering |
| title_full_unstemmed | A Low-Cost Underground Garage Navigation Switching Algorithm Based on Kalman Filtering |
| title_short | A Low-Cost Underground Garage Navigation Switching Algorithm Based on Kalman Filtering |
| title_sort | low cost underground garage navigation switching algorithm based on kalman filtering |
| topic | parking lot positioning indoor and outdoor switching navigation method |
| url | https://www.mdpi.com/1424-8220/19/8/1861 |
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