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Real-time localization for mobile machines by fusing barometric altitude measurements with surface profiles

Michiels, Lukas ORCID iD icon 1; Kazenwadel, Benjamin 1; Becker, Simon 1; Geimer, Marcus 1
1 Institut für Fahrzeugsystemtechnik (FAST), Karlsruher Institut für Technologie (KIT)

Abstract (englisch):

Accurate localization is one of the key requirements for the automation of mobile machines. While GNSS-based systems are widely used due to their high accuracy and accessibility, redundant systems have to be developed to decrease the dependency on GNSS signals for autonomous machines. Although altitude measurements have been used for many decades by human explorers, they are not yet exploited for localization purposes on mobile machines. Based on single barometric measurements, no localization is possible as the vehicle could be at various positions with the same absolute altitude. In this paper, we propose an algorithm based on sequential importance sampling to fuse altitude measurements with surface profiles, which allows real-time tracking and localization of mobile machines. When moving through hilly terrain, a machine constantly changes its altitude, and the altitude profile can be used to track the vehicle's position. The proposed algorithm offers a supplementary localization and verification method for mountainous and potentially GNSS-obstructed areas.


Originalveröffentlichung
DOI: 10.23919/FUSION49751.2022.9841393
Zugehörige Institution(en) am KIT Institut für Fahrzeugsystemtechnik (FAST)
Publikationstyp Proceedingsbeitrag
Publikationsdatum 09.08.2022
Sprache Englisch
Identifikator ISBN: 978-1-7377497-2-1
KITopen-ID: 1000148923
Erschienen in Proceedings of the 25th International Conference on Information Fusion (Fusion 2022)
Veranstaltung 25th International Conference on Information Fusion (FUSION 2022), Linköping, Schweden, 04.07.2022 – 07.07.2022
Verlag Institute of Electrical and Electronics Engineers (IEEE)
Schlagwörter Robotics, Nonlinear filtering, Localization, Tracking, Mobile Machines, GNSS, Barometric Measurements, Magnetic Heading, Autonomous Systems
Nachgewiesen in Scopus
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