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Evaluation d'un système de positionnement d'un véhicule sur route basé sur la fusion de données / E. Helou Helo (2001)
Titre : Evaluation d'un système de positionnement d'un véhicule sur route basé sur la fusion de données Type de document : Mémoire Auteurs : E. Helou Helo, Auteur Editeur : Champs/Marne : Université de Marne-la-Vallée Année de publication : 2001 Autre Editeur : Champs-sur-Marne : Ecole nationale des sciences géographiques ENSG Importance : 32 p. Format : 21 x 30 cm Note générale : Bibliographie
Mémoire de fin de stage de DEA Sciences de l'Information GéographiqueLangues : Français (fre) Descripteur : [Vedettes matières IGN] Navigation et positionnement
[Termes IGN] centrale inertielle
[Termes IGN] chambre DTC
[Termes IGN] filtre de Kalman
[Termes IGN] géonavigateur
[Termes IGN] GPS en mode différentiel
[Termes IGN] GPS-INS
[Termes IGN] guidage de véhicules
[Termes IGN] navigation automobile
[Termes IGN] odomètre
[Termes IGN] signal GPS
[Termes IGN] système d'information géographiqueIndex. décimale : DSIG Mémoires du master 2 IG, du master 2 SIG, de l'ex DEA SIG Note de contenu : 1 INTRODUCTION
1.1 Le L.I.V.I.C
1.2 Objectifs
1.3 Problématique
1.4 Méthodologie
2 CAPTEURS ET PLATE-FORME EXPERIMENTALE
2.1 Le GPS
- Introduction
- Principe de fonctionnement
- Les signaux du GPS
- Précision du GPS
2.2 Les Capteurs Inertiels (INS)
- Le gyromètre
- Le topomètre/odomètre
- Le modèle de reconstruction
- Etude expérimentale
- Les cameras CDD
3 LES METHODES DE FUSION
3.1 Principe
3.2 Recalage INS/GPS/cameras/carte
- Objectifs
- Gestion du Temps
- Recalage GPS/INS
- Mode INS unique
- Effet des caméras CDD
3.3 Le filtre de KALMAN
- Principe
- Formulation
- Application du EKF à la localisation d'un véhicule
- Résultats expérimentaux
4 APPORT DES SIG AU SYSTEME D'AIDE A LA CONDUITE
4.1 Carte de précision.
- Constructions des points d'amers
4.2 SIG embarqué
- Fonctionnalité
- L'adaptation du SIG
5 CONCLUSIONNuméro de notice : 11165 Affiliation des auteurs : non IGN Thématique : POSITIONNEMENT Nature : Mémoire Master 2 IG Organisme de stage : Laboratoire sur les Interactions Véhicule Infrastructure Conducteur LIVIC (unité de recherche mixte LCPC-INRETS) Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=49516 Réservation
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Code-barres Cote Support Localisation Section Disponibilité 11165-01 DSIG Livre Centre de documentation Travaux d'élèves Disponible 11165-02 DSIG Livre Centre de documentation Travaux d'élèves Disponible Leistungsfähigkeit fahrzeugautonomer Ortungsverfahren auf der Basis von Map-Matching-Techniken / R. Czommer (2001)
Titre : Leistungsfähigkeit fahrzeugautonomer Ortungsverfahren auf der Basis von Map-Matching-Techniken Titre original : [Capacité de réalisation de procédé de détection d'un véhicule autonome sur la base des techniques de "map-matching"] Type de document : Thèse/HDR Auteurs : R. Czommer, Auteur Editeur : Munich : Bayerische Akademie der Wissenschaften Année de publication : 2001 Collection : DGK - C Sous-collection : Dissertationen num. 535 Importance : 145 p. Format : 21 x 30 cm ISBN/ISSN/EAN : 978-3-7696-9574-8 Note générale : Bibliographie Langues : Allemand (ger) Descripteur : [Vedettes matières IGN] Navigation et positionnement
[Termes IGN] correction
[Termes IGN] erreur systématique
[Termes IGN] géonavigateur
[Termes IGN] GPS assisté pour la navigation (technologies)
[Termes IGN] GPS en mode différentiel
[Termes IGN] milieu urbain
[Termes IGN] navigation automobile
[Termes IGN] odomètre
[Termes IGN] qualité des données
[Termes IGN] véhicule automobileIndex. décimale : 30.70 Navigation et positionnement Résumé : (Auteur) Autonomous car navigation systems with on-board positioning sensors and CD-road network require a road accurate positioning relatively to the road network for optimal route planning, for route guidance and for generating driving recommendations. Positioning effected in a certain reference system and its accuracy are not decisive but represent the logical location of the vehicle relatively to the digital map. This task is called map matching.
Modern car navigation systems use for positioning multi-sensor-systems (differential odometers, gyros, magnetic field sensors) in combination with GPS or DGPS. Little availability of satellite methods due to masking and second way effects in urban areas (85% of mobility activities in road traffic occur in urban areas), magnetic disturbances, wheel slips and unfavourable error propagation of dead reckoning lead again and again to loss of position and in principle to total system failures. This can be avoided by map matching which compensates the sensor typical error behaviour of positioning sensors. The systematic error behaviour was examined theoretically for the positioning sensors odometer (wheel sensors, i.e. ABS-sensors), magnetic field sensors, gyros, accelerometers, GPS, and DGPS. Based on these error models five map matching methods with different degrees of freedom were developed, estimated correspondingly to the various ways of presentation of plain curves in curvature pattern, in angular pattern, or with two-dimensional cartesian coordinates.
For orientation or curvature map matching the distance frives (ruve length) and the values of orientation (direction angle or curvatures) are derived from these measurements. This measured function over the curve length is fitted to the corresponding function of the map by estimating one offset and one scale factor in a least square adjustment between the two functions and the two curve lengths.
In case of coordinate procedures the driven distance is divided into line elements of constant length and compared with the line elements of the digital map. For matching onto the digital road network, three approximating transformation translations, plain similarity transformation and affinity transformation are studied. The sensivity of these five methods concerning systematic sensor errors is examined by a precise analysis by means of simulated observations for the sensor systems gyro with odometer and gyro with accelerometers.
Scale factors and bias of gyros can be compensated by curvature matching without any calibration of these errors. Accelerometer errors gradually lead to squared increasing errors regarding the measured distance, and cannot be matched without error compensation to any method on the map.
Based on real observations with GPS, DGPS, wheel sensors, and a strap down inertial system being investigated during test trips under normal traffic conditions the map matching procedures could be tested for various combinations of these sensors. The accuracies reached and the reliability of track identification of the exact track out of various alternative tracks being especially important for vehicle navigation, were analysed and valued.
In urban areas pure GPS measurements are often useless, as every change in satellite constellations leads to disturbances of the vehicle position which cannot be compensated by one of the methods.
DGPS needs a support by wheel sensors to bridge masking effects and to moderate drift effects during extremely slow motion. Measurements by sensor combinations such as gyro with wheel sensors, differential odometer, GPS with differential odometer, DGPS with differential odometer and pure DGPS (without long masking times) can be matched onto the map with all methods (besides translation), if at least two turns are contained within the data material.
The precision of the map matching process to the coordinate pattern decreases with growing distance. The orientation and curvature matching compensate systematic sensor errors considerably better and increase accuracy with growing distance.
The limits of positioning systems and map matching techniques are shown in problematic cases such as masking of the satellite signals, little curving of the track, track identification in nearly parallel alternative tracks.
Autonomous navigation systems based on odometers and gyros reach, by map matching onto the road net, more favourable positioning results at an accuracy of 70cm than pure DGPS measurements so that in urban areas a reliable map matching without DGPS is possible. The integration of DGPS does not show a considerable increase in accuracy, nevertheless the integrity of hybrid systems is increased.Numéro de notice : 68943 Affiliation des auteurs : non IGN Thématique : POSITIONNEMENT Nature : Thèse étrangère Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=62060 Réservation
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Code-barres Cote Support Localisation Section Disponibilité 68943-01 30.70 Livre Centre de documentation Géodésie Disponible 68943-02 30.70 Livre Centre de documentation Géodésie Disponible Ein Modell für die hochgenaue Navigation autonomer flächenbeweglicher Fahrzeuge / J. Kusche (1994)
Titre : Ein Modell für die hochgenaue Navigation autonomer flächenbeweglicher Fahrzeuge Titre original : [Un modèle pour la navigation de haute précision d'un robot mobile autonome] Type de document : Thèse/HDR Auteurs : J. Kusche, Auteur Editeur : Munich : Bayerische Akademie der Wissenschaften Année de publication : 1994 Collection : DGK - C Sous-collection : Dissertationen num. 410 Importance : 82 p. Format : 21 x 30 cm ISBN/ISSN/EAN : 978-3-7696-9455-0 Note générale : Bibliographie Langues : Allemand (ger) Descripteur : [Vedettes matières IGN] Intelligence artificielle
[Termes IGN] capteur optique
[Termes IGN] équation différentielle
[Termes IGN] filtre de Kalman
[Termes IGN] navigation autonome
[Termes IGN] odomètre
[Termes IGN] positionnement cinématique
[Termes IGN] robot mobile
[Termes IGN] trajectoire (véhicule non spatial)Numéro de notice : 28074 Affiliation des auteurs : non IGN Thématique : GEOMATIQUE/INFORMATIQUE Nature : Thèse étrangère Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=63421 Réservation
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Code-barres Cote Support Localisation Section Disponibilité 28074-01 26.40 Manuel Informatique Centre de documentation Informatique Disponible 28074-02 26.40 Manuel Informatique Centre de documentation Informatique Disponible Quality control and integration aspects of vehicle locations systems / Christian Tiberius (1991)
Titre : Quality control and integration aspects of vehicle locations systems Type de document : Monographie Auteurs : Christian Tiberius, Auteur Editeur : Delft [Pays-Bas] : Delft University of Technology Année de publication : 1991 Collection : LGR-SERIES num. 1 Importance : 92 p. Format : 21 x 30 cm Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Navigation et positionnement
[Termes IGN] Cinématique
[Termes IGN] compas magnétique
[Termes IGN] contrôle qualité
[Termes IGN] filtre de Kalman
[Termes IGN] modèle mathématique
[Termes IGN] navigation automobile
[Termes IGN] odomètre
[Termes IGN] positionnement dynamique
[Termes IGN] positionnement par GPS
[Termes IGN] simulation
[Termes IGN] temps réelIndex. décimale : 30.70 Navigation et positionnement Résumé : (Auteur) This thesis deals with quality control and integration aspects of vehicle location systems. The feasibility of an integrated navigation system for vehicle location applications has been studied. The data handling of such an integrated navigation system is implemented by means of a Kalman filter. The Kalman filter model consists of a dynamic model, which describes the motions of the vehicle, and a measurement model, which relates all kinds of observables to the system. The final result of this implementation is a procedure for the real time estimation of the state (e.g. position, heading and speed) of the dynamic vehicle. Under the assumptions that the mathematical model is valid the Kalman filter produces optimal estimators of the state. Especially the topic of dynamic models for vehicles has been extensively researched. As a result an appropriate dynamic model has been derived. The theory of quality control in geodetic networks, developed by prof. Baarda, is also applicable to the Kalman filter. Quality encompasses precision and reliability. The real time mathematical model validation in integrated navigation systems is known as the DIA-procedure (detection, identification and adaptation). It is important to validate the mathematical model in real time, because the optimality of the estimators is only guaranteed as long as the assumptions in the mathematical model hold. Simulations have been carried out in order to gain insight in the process of designing an optimal filter, optimal in the sense of precision and reliability. The theory of quality control appears to be feasible to operate in vehicle navigation. The navigation system considered in this thesis consists of an arbitrary radio or satellite positioning system (coordinate observables), an (differential) odometer (observable velocity or distance traveled) and a magnetic compass (observable heading). The results of this system may serve as an indication of how to design well a vehicle location system. Note de contenu : 1. INTRODUCTION
2. MATHEMATICAL MODEL
2.1. Review of mathematical model
2.2. Dynamic model
2.3. Extension of dynamic model
2.4. Measurement model
2.5. Summary
3. QUALITY CONTROL IN VEHICLE NAVIGATION
3.1. Precision
3.2. Reliability and testing
- Model validation - Testing - DIA-procedure- Reliability
3.3. Summary
4. DESIGN AND FILTER COMPUTATIONS
4.1. Objectives
4.2. Simulation
4.3. Reference model COM
- Model parameters - Testing parameters - Design computations - Filter computations - Conclusions
4.4. Alternative models for vehicle navigation
- Integration - Design of the filter - Instrumental parameters - Conclusions
4.5. Summary
5. CONCLUSIONS AND RECOMMENDATIONSNuméro de notice : 18204 Affiliation des auteurs : non IGN Thématique : POSITIONNEMENT Nature : Monographie Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=55348 Réservation
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Code-barres Cote Support Localisation Section Disponibilité 18204-01 30.70 Livre Centre de documentation Géodésie Disponible