Abstract
Various fusion methods to estimate a vehicle trajectory using the Global Positioning System(GPS) and Inertial Measurement Unit(IMU) are proposed ordinary. We have started this study of the fusion algorithm for the vehicle trajectory measurment systems. At a midterm of this study, we developed the measurement systems to solve the cycle slip phenomenon and verified the vehicle precise trajectory for the short time. The applied positioning algorithm was Time Differential(ID) method. Finally, we have developed the real-time GPS-IMU fusion algorithm based on the discrete-time Kalman filter, which was described by a simplified linear state equation, through the higher performance of computer. In addition, real-time-fusion for GPS and IMU needs increased on the site. Our techniques showed good performances under various driving condition for hte findings of this development process.
