{"title":"State inequality constraint based method for rail navigation","authors":"Arunasish Acharya, S. Sadhu, T. Ghoshal","doi":"10.1109/INDCON.2010.5712612","DOIUrl":null,"url":null,"abstract":"This paper deals with a rail navigation problem in GPS dark regions where only accelerometer and odometer data are available. A state inequality constraint based method for estimation with a Bayesian framework and Box-Gaussian approximation has been proposed. The method makes use of sequential pseudo-measurement update. A variant of the method with rejection of outlier measurements is also proposed. These methods are compared with the unconstrained estimation method as well as Gaussian pseudo-measurement method with measurement outlier rejection. The comparative study has been done using Monte Carlo simulations.","PeriodicalId":109071,"journal":{"name":"2010 Annual IEEE India Conference (INDICON)","volume":"33 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2010-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"1","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2010 Annual IEEE India Conference (INDICON)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/INDCON.2010.5712612","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 1
Abstract
This paper deals with a rail navigation problem in GPS dark regions where only accelerometer and odometer data are available. A state inequality constraint based method for estimation with a Bayesian framework and Box-Gaussian approximation has been proposed. The method makes use of sequential pseudo-measurement update. A variant of the method with rejection of outlier measurements is also proposed. These methods are compared with the unconstrained estimation method as well as Gaussian pseudo-measurement method with measurement outlier rejection. The comparative study has been done using Monte Carlo simulations.
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