The hyrid fusion package is dedicated to outdoor vehicle positioning based on combination of differents sensor sources such as GPS, odometers and IMUs (Inertial Measurement Units).
The hybrid fusion package implements Interacting Multiple Model (IMM) and Extended Kalman filter (EKF) data fusion algorithms.
IMM, contrary to classical methods, is based on the discretization of the vehicle evolution space into simple maneuvers. Each maneuver is represented by a simple dynamic model such as a constant velocity or a constant turning model. This allows the method to be optimized for highly dynamic vehicles. In this package, the Hybrid Fusion algorithm allows to take into account unusual vehicle maneuvers during special driving situations, including strong accelerations, high speed turnings or backwards driving with stop stages. Additional modules allow the generic formatting of the sensors data (Odometer, INS, GPS) in order to be easily usable by Hybrid Fusion module.
HYBRID FUSION POSITIONING + rtmAPS BENEFITS
Compared to using a single standard GPS receiver, the Hybrid fusion positioning by IFSTTAR provides the following features:
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