[{"date_updated":"2022-01-06T06:51:07Z","year":"2010","status":"public","title":"Barometric height estimation combined with map-matching in a loosely-coupled Kalman-filter","author":[{"full_name":"Bevermeier, Maik","last_name":"Bevermeier","first_name":"Maik"},{"last_name":"Walter","first_name":"Oliver","full_name":"Walter, Oliver"},{"first_name":"Sven","last_name":"Peschke","full_name":"Peschke, Sven"},{"full_name":"Haeb-Umbach, Reinhold","last_name":"Haeb-Umbach","first_name":"Reinhold","id":"242"}],"user_id":"44006","doi":"10.1109/WPNC.2010.5650745","page":"128-134","main_file_link":[{"url":"https://groups.uni-paderborn.de/nt/pubs/2010/BeWaPeHa10.pdf","open_access":"1"}],"language":[{"iso":"eng"}],"_id":"11726","abstract":[{"lang":"eng","text":"In this paper we present a robust location estimation algorithm especially focused on the accuracy in vertical position. A loosely-coupled error state space Kalman filter, which fuses sensor data of an Inertial Measurement Unit and the output of a Global Positioning System device, is augmented by height information from an altitude measurement unit. This unit consists of a barometric altimeter whose output is fused with topographic map information by a Kalman filter to provide robust information about the current vertical user position. These data replace the less reliable vertical position information provided the GPS device. It is shown that typical barometric errors like thermal divergences and fluctuations in the pressure due to changing weather conditions can be compensated by the topographic map information and the barometric error Kalman filter. The resulting height information is shown not only to be more reliable than height information provided by GPS. It also turns out that it leads to better attitude and thus better overall localization estimation accuracy due to the coupling of spatial orientations via the Direct Cosine Matrix. Results are presented both for artificially generated and field test data, where the user is moving by car."}],"publication":"7th Workshop on Positioning Navigation and Communication (WPNC 2010)","citation":{"mla":"Bevermeier, Maik, et al. “Barometric Height Estimation Combined with Map-Matching in a Loosely-Coupled Kalman-Filter.” <i>7th Workshop on Positioning Navigation and Communication (WPNC 2010)</i>, 2010, pp. 128–34, doi:<a href=\"https://doi.org/10.1109/WPNC.2010.5650745\">10.1109/WPNC.2010.5650745</a>.","ama":"Bevermeier M, Walter O, Peschke S, Haeb-Umbach R. Barometric height estimation combined with map-matching in a loosely-coupled Kalman-filter. In: <i>7th Workshop on Positioning Navigation and Communication (WPNC 2010)</i>. ; 2010:128-134. doi:<a href=\"https://doi.org/10.1109/WPNC.2010.5650745\">10.1109/WPNC.2010.5650745</a>","bibtex":"@inproceedings{Bevermeier_Walter_Peschke_Haeb-Umbach_2010, title={Barometric height estimation combined with map-matching in a loosely-coupled Kalman-filter}, DOI={<a href=\"https://doi.org/10.1109/WPNC.2010.5650745\">10.1109/WPNC.2010.5650745</a>}, booktitle={7th Workshop on Positioning Navigation and Communication (WPNC 2010)}, author={Bevermeier, Maik and Walter, Oliver and Peschke, Sven and Haeb-Umbach, Reinhold}, year={2010}, pages={128–134} }","apa":"Bevermeier, M., Walter, O., Peschke, S., &#38; Haeb-Umbach, R. (2010). Barometric height estimation combined with map-matching in a loosely-coupled Kalman-filter. In <i>7th Workshop on Positioning Navigation and Communication (WPNC 2010)</i> (pp. 128–134). <a href=\"https://doi.org/10.1109/WPNC.2010.5650745\">https://doi.org/10.1109/WPNC.2010.5650745</a>","ieee":"M. Bevermeier, O. Walter, S. Peschke, and R. Haeb-Umbach, “Barometric height estimation combined with map-matching in a loosely-coupled Kalman-filter,” in <i>7th Workshop on Positioning Navigation and Communication (WPNC 2010)</i>, 2010, pp. 128–134.","chicago":"Bevermeier, Maik, Oliver Walter, Sven Peschke, and Reinhold Haeb-Umbach. “Barometric Height Estimation Combined with Map-Matching in a Loosely-Coupled Kalman-Filter.” In <i>7th Workshop on Positioning Navigation and Communication (WPNC 2010)</i>, 128–34, 2010. <a href=\"https://doi.org/10.1109/WPNC.2010.5650745\">https://doi.org/10.1109/WPNC.2010.5650745</a>.","short":"M. Bevermeier, O. Walter, S. Peschke, R. Haeb-Umbach, in: 7th Workshop on Positioning Navigation and Communication (WPNC 2010), 2010, pp. 128–134."},"keyword":["altitude measurement unit","barometers","barometric altimeter","barometric error Kalman filter","barometric height estimation","direct cosine matrix","global positioning system","Global Positioning System","GPS device","height information","height measurement","inertial measurement unit","Kalman filters","loosely-coupled error state space Kalman filter","loosely-coupled Kalman-filter","map matching","robust information","robust location estimation","sensor fusion","topographic map information","vertical user position"],"type":"conference","department":[{"_id":"54"}],"oa":"1","date_created":"2019-07-12T05:27:04Z"},{"year":"2009","title":"Robust vehicle localization based on multi-level sensor fusion and online parameter estimation","status":"public","author":[{"first_name":"Maik","last_name":"Bevermeier","full_name":"Bevermeier, Maik"},{"first_name":"Sven","last_name":"Peschke","full_name":"Peschke, Sven"},{"id":"242","full_name":"Haeb-Umbach, Reinhold","first_name":"Reinhold","last_name":"Haeb-Umbach"}],"date_updated":"2022-01-06T06:51:07Z","page":"235-242","main_file_link":[{"open_access":"1","url":"https://groups.uni-paderborn.de/nt/pubs/2009/BePeHa09.pdf"}],"language":[{"iso":"eng"}],"_id":"11723","doi":"10.1109/WPNC.2009.4907833","user_id":"44006","publication":"6th Workshop on Positioning Navigation and Communication (WPNC 2009)","citation":{"short":"M. Bevermeier, S. Peschke, R. Haeb-Umbach, in: 6th Workshop on Positioning Navigation and Communication (WPNC 2009), 2009, pp. 235–242.","chicago":"Bevermeier, Maik, Sven Peschke, and Reinhold Haeb-Umbach. “Robust Vehicle Localization Based on Multi-Level Sensor Fusion and Online Parameter Estimation.” In <i>6th Workshop on Positioning Navigation and Communication (WPNC 2009)</i>, 235–42, 2009. <a href=\"https://doi.org/10.1109/WPNC.2009.4907833\">https://doi.org/10.1109/WPNC.2009.4907833</a>.","ieee":"M. Bevermeier, S. Peschke, and R. Haeb-Umbach, “Robust vehicle localization based on multi-level sensor fusion and online parameter estimation,” in <i>6th Workshop on Positioning Navigation and Communication (WPNC 2009)</i>, 2009, pp. 235–242.","apa":"Bevermeier, M., Peschke, S., &#38; Haeb-Umbach, R. (2009). Robust vehicle localization based on multi-level sensor fusion and online parameter estimation. In <i>6th Workshop on Positioning Navigation and Communication (WPNC 2009)</i> (pp. 235–242). <a href=\"https://doi.org/10.1109/WPNC.2009.4907833\">https://doi.org/10.1109/WPNC.2009.4907833</a>","bibtex":"@inproceedings{Bevermeier_Peschke_Haeb-Umbach_2009, title={Robust vehicle localization based on multi-level sensor fusion and online parameter estimation}, DOI={<a href=\"https://doi.org/10.1109/WPNC.2009.4907833\">10.1109/WPNC.2009.4907833</a>}, booktitle={6th Workshop on Positioning Navigation and Communication (WPNC 2009)}, author={Bevermeier, Maik and Peschke, Sven and Haeb-Umbach, Reinhold}, year={2009}, pages={235–242} }","ama":"Bevermeier M, Peschke S, Haeb-Umbach R. Robust vehicle localization based on multi-level sensor fusion and online parameter estimation. In: <i>6th Workshop on Positioning Navigation and Communication (WPNC 2009)</i>. ; 2009:235-242. doi:<a href=\"https://doi.org/10.1109/WPNC.2009.4907833\">10.1109/WPNC.2009.4907833</a>","mla":"Bevermeier, Maik, et al. “Robust Vehicle Localization Based on Multi-Level Sensor Fusion and Online Parameter Estimation.” <i>6th Workshop on Positioning Navigation and Communication (WPNC 2009)</i>, 2009, pp. 235–42, doi:<a href=\"https://doi.org/10.1109/WPNC.2009.4907833\">10.1109/WPNC.2009.4907833</a>."},"abstract":[{"text":"In this paper we present a novel vehicle tracking algorithm, which is based on multi-level sensor fusion of GPS (global positioning system) with Inertial Measurement Unit sensor data. It is shown that the robustness of the system to temporary dropouts of the GPS signal, which may occur due to limited visibility of satellites in narrow street canyons or tunnels, is greatly improved by sensor fusion. We further demonstrate how the observation and state noise covariances of the employed Kalman filters can be estimated alongside the filtering by an application of the Expectation-Maximization algorithm. The proposed time-variant multi-level Kalman filter is shown to outperform an Interacting Multiple Model approach while at the same time being computationally less demanding.","lang":"eng"}],"date_created":"2019-07-12T05:27:01Z","type":"conference","keyword":["covariance matrices","expectation-maximisation algorithm","expectation-maximization algorithm","global positioning system","Global Positioning System","GPS","inertial measurement unit","interacting multiple model approach","Kalman filters","multilevel sensor fusion","narrow street canyons","narrow tunnels","online parameter estimation","parameter estimation","road vehicles","robust vehicle localization","sensor fusion","state noise covariances","time-variant multilevel Kalman filter","vehicle tracking algorithm"],"oa":"1","department":[{"_id":"54"}]},{"citation":{"short":"S. Peschke, M. Bevermeier, R. Haeb-Umbach, in: 6th Workshop on Positioning Navigation and Communication (WPNC 2009), 2009, pp. 195–202.","ama":"Peschke S, Bevermeier M, Haeb-Umbach R. A GPS positioning approach exploiting GSM velocity estimates. In: <i>6th Workshop on Positioning Navigation and Communication (WPNC 2009)</i>. ; 2009:195-202. doi:<a href=\"https://doi.org/10.1109/WPNC.2009.4907827\">10.1109/WPNC.2009.4907827</a>","chicago":"Peschke, Sven, Maik Bevermeier, and Reinhold Haeb-Umbach. “A GPS Positioning Approach Exploiting GSM Velocity Estimates.” In <i>6th Workshop on Positioning Navigation and Communication (WPNC 2009)</i>, 195–202, 2009. <a href=\"https://doi.org/10.1109/WPNC.2009.4907827\">https://doi.org/10.1109/WPNC.2009.4907827</a>.","bibtex":"@inproceedings{Peschke_Bevermeier_Haeb-Umbach_2009, title={A GPS positioning approach exploiting GSM velocity estimates}, DOI={<a href=\"https://doi.org/10.1109/WPNC.2009.4907827\">10.1109/WPNC.2009.4907827</a>}, booktitle={6th Workshop on Positioning Navigation and Communication (WPNC 2009)}, author={Peschke, Sven and Bevermeier, Maik and Haeb-Umbach, Reinhold}, year={2009}, pages={195–202} }","mla":"Peschke, Sven, et al. “A GPS Positioning Approach Exploiting GSM Velocity Estimates.” <i>6th Workshop on Positioning Navigation and Communication (WPNC 2009)</i>, 2009, pp. 195–202, doi:<a href=\"https://doi.org/10.1109/WPNC.2009.4907827\">10.1109/WPNC.2009.4907827</a>.","apa":"Peschke, S., Bevermeier, M., &#38; Haeb-Umbach, R. (2009). A GPS positioning approach exploiting GSM velocity estimates. In <i>6th Workshop on Positioning Navigation and Communication (WPNC 2009)</i> (pp. 195–202). <a href=\"https://doi.org/10.1109/WPNC.2009.4907827\">https://doi.org/10.1109/WPNC.2009.4907827</a>","ieee":"S. Peschke, M. Bevermeier, and R. Haeb-Umbach, “A GPS positioning approach exploiting GSM velocity estimates,” in <i>6th Workshop on Positioning Navigation and Communication (WPNC 2009)</i>, 2009, pp. 195–202."},"publication":"6th Workshop on Positioning Navigation and Communication (WPNC 2009)","abstract":[{"text":"A combination of GPS (global positioning system) and INS (inertial navigation system) is known to provide high precision and highly robust vehicle localization. Notably during times when the GPS signal has a poor quality, e.g. due to the lack of a sufficiently large number of visible satellites, the INS, which may consist of a gyroscope and an odometer, will lead to improved positioning accuracy. In this paper we show how velocity information obtained from GSM (global system for mobile communications) signalling, rather than from a tachometer, can be used together with a gyroscope sensor to support localization in the presence of temporarily unavailable GPS data. We propose a sensor fusion system architecture and present simulation results that show the effectiveness of this approach.","lang":"eng"}],"date_created":"2019-07-12T05:30:04Z","department":[{"_id":"54"}],"oa":"1","keyword":["cellular radio","distance measurement","global positioning system","Global Positioning System","global system for mobile communications","GPS positioning approach","GSM velocity","gyroscopes","gyroscope sensor","inertial navigation","inertial navigation system","odometer","sensor fusion system architecture","sensors"],"type":"conference","author":[{"last_name":"Peschke","first_name":"Sven","full_name":"Peschke, Sven"},{"first_name":"Maik","last_name":"Bevermeier","full_name":"Bevermeier, Maik"},{"full_name":"Haeb-Umbach, Reinhold","last_name":"Haeb-Umbach","first_name":"Reinhold","id":"242"}],"title":"A GPS positioning approach exploiting GSM velocity estimates","year":"2009","status":"public","date_updated":"2022-01-06T06:51:11Z","language":[{"iso":"eng"}],"_id":"11881","main_file_link":[{"url":"https://groups.uni-paderborn.de/nt/pubs/2009/PeBeHa09-1.pdf","open_access":"1"}],"page":"195-202","user_id":"44006","doi":"10.1109/WPNC.2009.4907827"},{"user_id":"44006","volume":4,"page":"1844-1848 vol.4","_id":"11733","status":"public","oa":"1","citation":{"chicago":"Bischoff, Renke, Reinhold Haeb-Umbach, Wolfgang Schulz, and Guenther Heinrichs. “Employment of a Multipath Receiver Structure in a Combined GALILEO/UMTS Receiver.” In <i>IEEE 55th Vehicular Technology Conference (VTC 2002 Spring)</i>, 4:1844–48 vol.4, 2002. <a href=\"https://doi.org/10.1109/VTC.2002.1002940\">https://doi.org/10.1109/VTC.2002.1002940</a>.","short":"R. Bischoff, R. Haeb-Umbach, W. Schulz, G. Heinrichs, in: IEEE 55th Vehicular Technology Conference (VTC 2002 Spring), 2002, pp. 1844–1848 vol.4.","apa":"Bischoff, R., Haeb-Umbach, R., Schulz, W., &#38; Heinrichs, G. (2002). Employment of a multipath receiver structure in a combined GALILEO/UMTS receiver. In <i>IEEE 55th Vehicular Technology Conference (VTC 2002 Spring)</i> (Vol. 4, pp. 1844–1848 vol.4). <a href=\"https://doi.org/10.1109/VTC.2002.1002940\">https://doi.org/10.1109/VTC.2002.1002940</a>","ieee":"R. Bischoff, R. Haeb-Umbach, W. Schulz, and G. Heinrichs, “Employment of a multipath receiver structure in a combined GALILEO/UMTS receiver,” in <i>IEEE 55th Vehicular Technology Conference (VTC 2002 Spring)</i>, 2002, vol. 4, pp. 1844–1848 vol.4.","ama":"Bischoff R, Haeb-Umbach R, Schulz W, Heinrichs G. Employment of a multipath receiver structure in a combined GALILEO/UMTS receiver. In: <i>IEEE 55th Vehicular Technology Conference (VTC 2002 Spring)</i>. Vol 4. ; 2002:1844-1848 vol.4. doi:<a href=\"https://doi.org/10.1109/VTC.2002.1002940\">10.1109/VTC.2002.1002940</a>","bibtex":"@inproceedings{Bischoff_Haeb-Umbach_Schulz_Heinrichs_2002, title={Employment of a multipath receiver structure in a combined GALILEO/UMTS receiver}, volume={4}, DOI={<a href=\"https://doi.org/10.1109/VTC.2002.1002940\">10.1109/VTC.2002.1002940</a>}, booktitle={IEEE 55th Vehicular Technology Conference (VTC 2002 Spring)}, author={Bischoff, Renke and Haeb-Umbach, Reinhold and Schulz, Wolfgang and Heinrichs, Guenther}, year={2002}, pages={1844–1848 vol.4} }","mla":"Bischoff, Renke, et al. “Employment of a Multipath Receiver Structure in a Combined GALILEO/UMTS Receiver.” <i>IEEE 55th Vehicular Technology Conference (VTC 2002 Spring)</i>, vol. 4, 2002, pp. 1844–48 vol.4, doi:<a href=\"https://doi.org/10.1109/VTC.2002.1002940\">10.1109/VTC.2002.1002940</a>."},"doi":"10.1109/VTC.2002.1002940","main_file_link":[{"url":"https://groups.uni-paderborn.de/nt/pubs/2002/BiHaScHe02.pdf","open_access":"1"}],"language":[{"iso":"eng"}],"date_updated":"2022-01-06T06:51:08Z","intvolume":"         4","year":"2002","title":"Employment of a multipath receiver structure in a combined GALILEO/UMTS receiver","author":[{"full_name":"Bischoff, Renke","first_name":"Renke","last_name":"Bischoff"},{"id":"242","last_name":"Haeb-Umbach","first_name":"Reinhold","full_name":"Haeb-Umbach, Reinhold"},{"full_name":"Schulz, Wolfgang","first_name":"Wolfgang","last_name":"Schulz"},{"last_name":"Heinrichs","first_name":"Guenther","full_name":"Heinrichs, Guenther"}],"type":"conference","keyword":["combined GALILEO/UMTS receiver","delay locked loop","delay lock loops","DLL","Global Positioning System","GLONASS","GPS","GPSIIF/III","mobile satellite communication","multipath channels","multipath receiver structure","radio receivers","RAKE receiver","S-curve"],"department":[{"_id":"54"}],"date_created":"2019-07-12T05:27:12Z","abstract":[{"lang":"eng","text":"Current navigation systems like GPS (Global Positioning System) and its Russian counterpart GLONASS (Global Navigation Satellite System) only evaluate the direct signal path. The receivers treat the reflected paths also reaching the receiver antenna as disturbance which has to be suppressed. Multipath affects the tracking accuracy by resulting in a degeneration of the S-curve of the DLL (delay locked loop). Nowadays the future European systems GALILEO and GPSIIF/III with two new signals are on the way to the market and it is time to think about new receiver structures. Therefore we investigated if it is possible to use multipath for navigation constructively."}],"publication":"IEEE 55th Vehicular Technology Conference (VTC 2002 Spring)"}]