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A priori state vector and error covariance computation for the Unscented Kalman Filter (UKF) is described. The original UKF propagates multiple sigma points to compute the a priori mean state vector and the error covariance, resulting in a higher computational time compared to the Extended Kalman Filter (EKF). In the proposed method, the posterior mean state vector is propagated and then the sigma...
Pedestrian dead reckoning (PDR) is a promising solution for indoor positioning. It can work without either GPS signals or Wi-Fi coverage. Commonly, a foot mounted PDR system is relatively more accurate, but a PDR system mounted on the waist or integrated in a Smartphone can be more convenient. However, such systems have difficulties with step length estimation. Most of them estimate step length indirectly...
Intelligent Transportation Systems (ITS) are developing to increase transportation efficiency and mitigate its negative impacts on society. Traffic flow monitoring, traffic guidance and traffic signal control are some of ITS applications relying on vehicle passage rate in the streets. There are already some conventional techniques for vehicle counting. In this work a novel method is proposed for vehicle...
Global Navigation Satellite Systems (GNSS) can be used for navigation purposes in vehicular environments. However, the limited accuracy of GNSS makes it unsuitable for applications such as vehicle collision avoidance. Improving the positioning accuracy in vehicular networks, Cooperative Positioning (CP) algorithms have emerged. CP algorithms are based on data communication among vehicles and estimation...
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