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- W2210730191 abstract "The urban canyon is a challenging environment forautomotive GPS because of blockage and multipath. SiRFTechnology undertook the SiRFDRiveO program toimprove automotive navigation in the urban canyon byintegrating GPS with a low cost gyroscope and theautomobile's onboard speed sensor. The primaryobjectives were to allow the receiver to navigate througha two minute GPS outage with less than 150 m (2s) ofhorizontal position error growth and to minimize theeffects of multipath in the urban canyon with a minimalincrease in throughput and memory requirements.Previous studies demonstrate that the performance ofa tightly integrated, single Kalman filter navigationsystem design can be very nearly matched by a federatedarchitecture. The SiRF federated filter architecture usesseparate GPS-navigation, heading (3-state) and speed (2-state)Kalman filters. These instrument filters are updatedwith the GPS velocity estimate from the primarynavigation filter. The gyroscope and vehicle speed sensorsare used to propagate the state continuously oncecalibrated, allowing for a 20-hertz navigation output rate.At start-up SiRFDRive uses a zero-velocity gyro biasupdate to enable accurate navigation before GPS velocitydata is available. A SiRFDRive equipped receiver cannavigate immediately after power-up, using only storedinitial heading and position, vehicle speed sensormeasurements, and the zero-velocity calibrated gyroscopemeasurements. This mechanism provides the navigation solution in a blocked GPS environment, such as a parkinggarage, immediately after starting the car and overcomeschanges in gyro bias induced by large temperaturechanges that are common in the automotive environment.The SiRFDRive system has been implemented andtested, and meets are horizontal position accuracyobjective. The federated filter architecture requires anincrease of less than 15% in throughput, less than 10% incode space, and less than 5% in RAM." @default.
- W2210730191 created "2016-06-24" @default.
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- W2210730191 date "1999-09-17" @default.
- W2210730191 modified "2023-09-28" @default.
- W2210730191 title "SiRF’s Federated Filter Architecture for Automotive Dead Reckoning" @default.
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