---
_id: '33849'
abstract:
- lang: eng
  text: Modern traffic control systems are key to cope with current and future traffic
    challenges. In this paper information obtained from a microscopic traffic estimation
    using various data sources is used to feed a new developed traffic control approach.
    The presented method can control a traffic area with multiple traffic light systems
    (TLS) reacting to individual road users and pedestrians. In contrast to widespread
    green time extension techniques, this control selects the best phase sequence
    by analyzing the current traffic state reconstructed in SUMO and its predicted
    progress. To achieve this, the key aspect of the control strategy is to use Model
    Predictive Control (MPC). In order to maintain realism for real world applications,
    among other things, the traffic phase transitions are modelled in detail and integrated
    within the prediction. For the efficiency, the approach incorporates a fuzzy logic
    preselection of all phases reducing the computational effort. The evaluation itself
    is able to be easily adjusted to focus on various objectives like low occupancies,
    reducing waiting times and emissions, few number of phase transitions etc. determining
    the best switching times for the selected phases. Exemplary traffic simulations
    demonstrate the functionality of the MPC-based control and, in addition, some
    aspects under development like the real-world communication network are also discussed.
author:
- first_name: Kevin
  full_name: Malena, Kevin
  id: '36303'
  last_name: Malena
  orcid: 0000-0003-1183-4679
- first_name: Christopher
  full_name: Link, Christopher
  id: '38249'
  last_name: Link
- first_name: Leon
  full_name: Bußemas, Leon
  id: '51118'
  last_name: Bußemas
- first_name: Sandra
  full_name: Gausemeier, Sandra
  id: '17793'
  last_name: Gausemeier
- first_name: Ansgar
  full_name: Trächtler, Ansgar
  id: '552'
  last_name: Trächtler
citation:
  ama: 'Malena K, Link C, Bußemas L, Gausemeier S, Trächtler A. Traffic Estimation
    and MPC-Based Traffic Light System Control in Realistic Real-Time Traffic Environments.
    In: Klein C, Jarke M, Helfert M, Berns K, Gusikhin O, eds. <i>Communications in
    Computer and Information Science</i>. Vol 1612. Communications in Computer and
    Information Science. Springer International Publishing; 2022:232–254. doi:<a href="https://doi.org/10.1007/978-3-031-17098-0_12">10.1007/978-3-031-17098-0_12</a>'
  apa: Malena, K., Link, C., Bußemas, L., Gausemeier, S., &#38; Trächtler, A. (2022).
    Traffic Estimation and MPC-Based Traffic Light System Control in Realistic Real-Time
    Traffic Environments. In C. Klein, M. Jarke, M. Helfert, K. Berns, &#38; O. Gusikhin
    (Eds.), <i>Communications in Computer and Information Science</i> (Vol. 1612,
    pp. 232–254). Springer International Publishing. <a href="https://doi.org/10.1007/978-3-031-17098-0_12">https://doi.org/10.1007/978-3-031-17098-0_12</a>
  bibtex: '@inbook{Malena_Link_Bußemas_Gausemeier_Trächtler_2022, place={Cham}, series={Communications
    in Computer and Information Science}, title={Traffic Estimation and MPC-Based
    Traffic Light System Control in Realistic Real-Time Traffic Environments}, volume={1612},
    DOI={<a href="https://doi.org/10.1007/978-3-031-17098-0_12">10.1007/978-3-031-17098-0_12</a>},
    booktitle={Communications in Computer and Information Science}, publisher={Springer
    International Publishing}, author={Malena, Kevin and Link, Christopher and Bußemas,
    Leon and Gausemeier, Sandra and Trächtler, Ansgar}, editor={Klein, Cornel and
    Jarke, Mathias and Helfert, Markus and Berns, Karsten and Gusikhin, Oleg}, year={2022},
    pages={232–254}, collection={Communications in Computer and Information Science}
    }'
  chicago: 'Malena, Kevin, Christopher Link, Leon Bußemas, Sandra Gausemeier, and
    Ansgar Trächtler. “Traffic Estimation and MPC-Based Traffic Light System Control
    in Realistic Real-Time Traffic Environments.” In <i>Communications in Computer
    and Information Science</i>, edited by Cornel Klein, Mathias Jarke, Markus Helfert,
    Karsten Berns, and Oleg Gusikhin, 1612:232–254. Communications in Computer and
    Information Science. Cham: Springer International Publishing, 2022. <a href="https://doi.org/10.1007/978-3-031-17098-0_12">https://doi.org/10.1007/978-3-031-17098-0_12</a>.'
  ieee: 'K. Malena, C. Link, L. Bußemas, S. Gausemeier, and A. Trächtler, “Traffic
    Estimation and MPC-Based Traffic Light System Control in Realistic Real-Time Traffic
    Environments,” in <i>Communications in Computer and Information Science</i>, vol.
    1612, C. Klein, M. Jarke, M. Helfert, K. Berns, and O. Gusikhin, Eds. Cham: Springer
    International Publishing, 2022, pp. 232–254.'
  mla: Malena, Kevin, et al. “Traffic Estimation and MPC-Based Traffic Light System
    Control in Realistic Real-Time Traffic Environments.” <i>Communications in Computer
    and Information Science</i>, edited by Cornel Klein et al., vol. 1612, Springer
    International Publishing, 2022, pp. 232–254, doi:<a href="https://doi.org/10.1007/978-3-031-17098-0_12">10.1007/978-3-031-17098-0_12</a>.
  short: 'K. Malena, C. Link, L. Bußemas, S. Gausemeier, A. Trächtler, in: C. Klein,
    M. Jarke, M. Helfert, K. Berns, O. Gusikhin (Eds.), Communications in Computer
    and Information Science, Springer International Publishing, Cham, 2022, pp. 232–254.'
date_created: 2022-10-20T15:06:39Z
date_updated: 2026-01-26T08:49:52Z
department:
- _id: '153'
doi: 10.1007/978-3-031-17098-0_12
editor:
- first_name: Cornel
  full_name: Klein, Cornel
  last_name: Klein
- first_name: Mathias
  full_name: Jarke, Mathias
  last_name: Jarke
- first_name: Markus
  full_name: Helfert, Markus
  last_name: Helfert
- first_name: Karsten
  full_name: Berns, Karsten
  last_name: Berns
- first_name: Oleg
  full_name: Gusikhin, Oleg
  last_name: Gusikhin
intvolume: '      1612'
keyword:
- Traffic control
- Traffic estimation
- Real-time
- MPC
- Fuzzy
- Isolated intersection
- Networked intersection
- Sensor fusion
language:
- iso: eng
page: 232–254
place: Cham
publication: Communications in Computer and Information Science
publication_identifier:
  isbn:
  - '9783031170973'
  - '9783031170980'
  issn:
  - 1865-0929
  - 1865-0937
publication_status: published
publisher: Springer International Publishing
quality_controlled: '1'
related_material:
  record:
  - id: '24159'
    relation: continues
    status: public
series_title: Communications in Computer and Information Science
status: public
title: Traffic Estimation and MPC-Based Traffic Light System Control in Realistic
  Real-Time Traffic Environments
type: book_chapter
user_id: '552'
volume: 1612
year: '2022'
...
---
_id: '24159'
abstract:
- lang: eng
  text: "The online fitting of a microscopic traffic simulation model to reconstruct
    the current state of a real traffic\r\narea can be challenging depending on the
    provided data. This paper presents a novel method based on limited\r\ndata from
    sensors positioned at specific locations and guarantees a general accordance of
    reality and\r\nsimulation in terms of multimodal road traffic counts and vehicle
    speeds. In these considerations, the actual\r\npurpose of research is of particular
    importance. Here, the research aims at improving the traffic flow by\r\ncontrolling
    the Traffic Light Systems (TLS) of the examined area which is why the current
    traffic state and\r\nthe route choices of individual road users are the matter
    of interest. An integer optimization problem is derived\r\nto fit the current
    simulation to the latest field measurements. The concept can be transferred to
    any road traffic\r\nnetwork and results in an observation of the current multimodal
    traffic state matching at the given sensor\r\nposition. First case studies show
    promosing results in terms of deviations between reality and simulation."
author:
- first_name: Kevin
  full_name: Malena, Kevin
  id: '36303'
  last_name: Malena
  orcid: 0000-0003-1183-4679
- first_name: Christopher
  full_name: Link, Christopher
  id: '38249'
  last_name: Link
- first_name: Sven
  full_name: Mertin, Sven
  id: '13195'
  last_name: Mertin
- first_name: Sandra
  full_name: Gausemeier, Sandra
  id: '17793'
  last_name: Gausemeier
- first_name: Ansgar
  full_name: Trächtler, Ansgar
  id: '552'
  last_name: Trächtler
citation:
  ama: 'Malena K, Link C, Mertin S, Gausemeier S, Trächtler A. Online State Estimation
    for Microscopic Traffic Simulations using Multiple Data Sources*. In: <i>VEHITS
    2021 Proceedings of the 7th International Conference on Vehicle Technology and
    Intelligent Transport Systems</i>. Vol 7. VEHITS 2021 Proceedings of the 7th International
    Conference on Vehicle Technology and Intelligent Transport Systems. SCITEPRESS;
    2021:386-395.'
  apa: Malena, K., Link, C., Mertin, S., Gausemeier, S., &#38; Trächtler, A. (2021).
    Online State Estimation for Microscopic Traffic Simulations using Multiple Data
    Sources*. <i>VEHITS 2021 Proceedings of the 7th International Conference on Vehicle
    Technology and Intelligent Transport Systems</i>, <i>7</i>, 386–395.
  bibtex: '@inproceedings{Malena_Link_Mertin_Gausemeier_Trächtler_2021, place={Portugal},
    series={VEHITS 2021 Proceedings of the 7th International Conference on Vehicle
    Technology and Intelligent Transport Systems}, title={Online State Estimation
    for Microscopic Traffic Simulations using Multiple Data Sources*}, volume={7},
    booktitle={VEHITS 2021 Proceedings of the 7th International Conference on Vehicle
    Technology and Intelligent Transport Systems}, publisher={SCITEPRESS}, author={Malena,
    Kevin and Link, Christopher and Mertin, Sven and Gausemeier, Sandra and Trächtler,
    Ansgar}, year={2021}, pages={386–395}, collection={VEHITS 2021 Proceedings of
    the 7th International Conference on Vehicle Technology and Intelligent Transport
    Systems} }'
  chicago: 'Malena, Kevin, Christopher Link, Sven Mertin, Sandra Gausemeier, and Ansgar
    Trächtler. “Online State Estimation for Microscopic Traffic Simulations Using
    Multiple Data Sources*.” In <i>VEHITS 2021 Proceedings of the 7th International
    Conference on Vehicle Technology and Intelligent Transport Systems</i>, 7:386–95.
    VEHITS 2021 Proceedings of the 7th International Conference on Vehicle Technology
    and Intelligent Transport Systems. Portugal: SCITEPRESS, 2021.'
  ieee: K. Malena, C. Link, S. Mertin, S. Gausemeier, and A. Trächtler, “Online State
    Estimation for Microscopic Traffic Simulations using Multiple Data Sources*,”
    in <i>VEHITS 2021 Proceedings of the 7th International Conference on Vehicle Technology
    and Intelligent Transport Systems</i>, Online Streaming, 2021, vol. 7, pp. 386–395.
  mla: Malena, Kevin, et al. “Online State Estimation for Microscopic Traffic Simulations
    Using Multiple Data Sources*.” <i>VEHITS 2021 Proceedings of the 7th International
    Conference on Vehicle Technology and Intelligent Transport Systems</i>, vol. 7,
    SCITEPRESS, 2021, pp. 386–95.
  short: 'K. Malena, C. Link, S. Mertin, S. Gausemeier, A. Trächtler, in: VEHITS 2021
    Proceedings of the 7th International Conference on Vehicle Technology and Intelligent
    Transport Systems, SCITEPRESS, Portugal, 2021, pp. 386–395.'
conference:
  end_date: 2021-04-30
  location: Online Streaming
  name: 7th International Conference on Vehicle Technology and Intelligent Transport
    Systems
  start_date: 2021-04-28
date_created: 2021-09-10T12:19:14Z
date_updated: 2026-01-26T08:49:53Z
department:
- _id: '153'
intvolume: '         7'
keyword:
- Microscopic Traffic Simulation
- Online State Estimation
- Mixed Road Users
- Sensor Fusion
- Integer Programming
- Route Choice
- Vehicle2Infrastructure
language:
- iso: eng
main_file_link:
- url: https://www.scitepress.org/PublicationsDetail.aspx?ID=3xZWfOSENWk=&t=1
page: 386-395
place: Portugal
project:
- _id: '688'
  name: Pilotprojekt "Schlosskreuzung"
publication: VEHITS 2021 Proceedings of the 7th International Conference on Vehicle
  Technology and Intelligent Transport Systems
publication_identifier:
  isbn:
  - 978-989-758-513-5
publication_status: published
publisher: SCITEPRESS
quality_controlled: '1'
related_material:
  link:
  - relation: confirmation
    url: https://www.scitepress.org/PublicationsDetail.aspx?ID=3xZWfOSENWk=&t=1
  record:
  - id: '33849'
    relation: is_continued_by
    status: public
series_title: VEHITS 2021 Proceedings of the 7th International Conference on Vehicle
  Technology and Intelligent Transport Systems
status: public
title: Online State Estimation for Microscopic Traffic Simulations using Multiple
  Data Sources*
type: conference
user_id: '36303'
volume: 7
year: '2021'
...
---
_id: '11925'
abstract:
- lang: eng
  text: In this paper we present a system for car navigation by fusing sensor data
    on an Android smartphone. The key idea is to use both the internal sensors of
    the smartphone (e.g., gyroscope) and sensor data from the car (e.g., speed information)
    to support navigation via GPS. To this end we employ a CAN-Bus-to-Bluetooth adapter
    to establish a wireless connection between the smartphone and the CAN-Bus of the
    car. On the smartphone a strapdown algorithm and an error-state Kalman filter
    are used to fuse the different sensor data streams. The experimental results show
    that the system is able to maintain higher positioning accuracy during GPS dropouts,
    thus improving the availability and reliability, compared to GPS-only solutions.
author:
- first_name: Oliver
  full_name: Walter, Oliver
  last_name: Walter
- first_name: Joerg
  full_name: Schmalenstroeer, Joerg
  id: '460'
  last_name: Schmalenstroeer
- first_name: Andreas
  full_name: Engler, Andreas
  last_name: Engler
- first_name: Reinhold
  full_name: Haeb-Umbach, Reinhold
  id: '242'
  last_name: Haeb-Umbach
citation:
  ama: 'Walter O, Schmalenstroeer J, Engler A, Haeb-Umbach R. Smartphone-Based Sensor
    Fusion for Improved Vehicular Navigation. In: <i>9th Workshop on Positioning Navigation
    and Communication (WPNC 2012)</i>. ; 2012.'
  apa: Walter, O., Schmalenstroeer, J., Engler, A., &#38; Haeb-Umbach, R. (2012).
    Smartphone-Based Sensor Fusion for Improved Vehicular Navigation. <i>9th Workshop
    on Positioning Navigation and Communication (WPNC 2012)</i>.
  bibtex: '@inproceedings{Walter_Schmalenstroeer_Engler_Haeb-Umbach_2012, title={Smartphone-Based
    Sensor Fusion for Improved Vehicular Navigation}, booktitle={9th Workshop on Positioning
    Navigation and Communication (WPNC 2012)}, author={Walter, Oliver and Schmalenstroeer,
    Joerg and Engler, Andreas and Haeb-Umbach, Reinhold}, year={2012} }'
  chicago: Walter, Oliver, Joerg Schmalenstroeer, Andreas Engler, and Reinhold Haeb-Umbach.
    “Smartphone-Based Sensor Fusion for Improved Vehicular Navigation.” In <i>9th
    Workshop on Positioning Navigation and Communication (WPNC 2012)</i>, 2012.
  ieee: O. Walter, J. Schmalenstroeer, A. Engler, and R. Haeb-Umbach, “Smartphone-Based
    Sensor Fusion for Improved Vehicular Navigation,” 2012.
  mla: Walter, Oliver, et al. “Smartphone-Based Sensor Fusion for Improved Vehicular
    Navigation.” <i>9th Workshop on Positioning Navigation and Communication (WPNC
    2012)</i>, 2012.
  short: 'O. Walter, J. Schmalenstroeer, A. Engler, R. Haeb-Umbach, in: 9th Workshop
    on Positioning Navigation and Communication (WPNC 2012), 2012.'
date_created: 2019-07-12T05:30:54Z
date_updated: 2023-10-26T08:13:27Z
department:
- _id: '54'
keyword:
- Smartphone
- navigation
- sensor fusion
language:
- iso: eng
main_file_link:
- open_access: '1'
  url: https://groups.uni-paderborn.de/nt/pubs/2012/WaScEnHa12.pdf
oa: '1'
publication: 9th Workshop on Positioning Navigation and Communication (WPNC 2012)
quality_controlled: '1'
status: public
title: Smartphone-Based Sensor Fusion for Improved Vehicular Navigation
type: conference
user_id: '460'
year: '2012'
...
---
_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'
...
---
_id: '11723'
abstract:
- lang: eng
  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.
author:
- first_name: Maik
  full_name: Bevermeier, Maik
  last_name: Bevermeier
- 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, 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>'
  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} }'
  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.
  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>.
  short: 'M. Bevermeier, S. Peschke, R. Haeb-Umbach, in: 6th Workshop on Positioning
    Navigation and Communication (WPNC 2009), 2009, pp. 235–242.'
date_created: 2019-07-12T05:27:01Z
date_updated: 2022-01-06T06:51:07Z
department:
- _id: '54'
doi: 10.1109/WPNC.2009.4907833
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
language:
- iso: eng
main_file_link:
- open_access: '1'
  url: https://groups.uni-paderborn.de/nt/pubs/2009/BePeHa09.pdf
oa: '1'
page: 235-242
publication: 6th Workshop on Positioning Navigation and Communication (WPNC 2009)
status: public
title: Robust vehicle localization based on multi-level sensor fusion and online parameter
  estimation
type: conference
user_id: '44006'
year: '2009'
...
---
_id: '11881'
abstract:
- lang: eng
  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.
author:
- first_name: Sven
  full_name: Peschke, Sven
  last_name: Peschke
- first_name: Maik
  full_name: Bevermeier, Maik
  last_name: Bevermeier
- first_name: Reinhold
  full_name: Haeb-Umbach, Reinhold
  id: '242'
  last_name: Haeb-Umbach
citation:
  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>'
  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>
  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} }'
  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>.
  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.
  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>.
  short: 'S. Peschke, M. Bevermeier, R. Haeb-Umbach, in: 6th Workshop on Positioning
    Navigation and Communication (WPNC 2009), 2009, pp. 195–202.'
date_created: 2019-07-12T05:30:04Z
date_updated: 2022-01-06T06:51:11Z
department:
- _id: '54'
doi: 10.1109/WPNC.2009.4907827
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
language:
- iso: eng
main_file_link:
- open_access: '1'
  url: https://groups.uni-paderborn.de/nt/pubs/2009/PeBeHa09-1.pdf
oa: '1'
page: 195-202
publication: 6th Workshop on Positioning Navigation and Communication (WPNC 2009)
status: public
title: A GPS positioning approach exploiting GSM velocity estimates
type: conference
user_id: '44006'
year: '2009'
...