---
_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.
author:
- first_name: Maik
  full_name: Bevermeier, Maik
  last_name: Bevermeier
- first_name: Oliver
  full_name: Walter, Oliver
  last_name: Walter
- first_name: Sven
  full_name: Peschke, Sven
  last_name: Peschke
- first_name: Reinhold
  full_name: Haeb-Umbach, Reinhold
  id: '242'
  last_name: Haeb-Umbach
citation:
  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>'
  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>
  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} }'
  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>.
  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.
  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>.
  short: 'M. Bevermeier, O. Walter, S. Peschke, R. Haeb-Umbach, in: 7th Workshop on
    Positioning Navigation and Communication (WPNC 2010), 2010, pp. 128–134.'
date_created: 2019-07-12T05:27:04Z
date_updated: 2022-01-06T06:51:07Z
department:
- _id: '54'
doi: 10.1109/WPNC.2010.5650745
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
language:
- iso: eng
main_file_link:
- open_access: '1'
  url: https://groups.uni-paderborn.de/nt/pubs/2010/BeWaPeHa10.pdf
oa: '1'
page: 128-134
publication: 7th Workshop on Positioning Navigation and Communication (WPNC 2010)
status: public
title: Barometric height estimation combined with map-matching in a loosely-coupled
  Kalman-filter
type: conference
user_id: '44006'
year: '2010'
...