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Fusion d'Informations dans un Système de Positionnement Hybride GPS Multi-Porteuses/Estime

Abstract : The works presented in this thesis is devoted to the study and the implementation of the information fusion methods for the 3D localization of a terrestrial vehicle in a dense urban environment. The studied approach is based on the fusion of the measurements provided by the multi-frequencies GPS absolute navigation system and the dead-reckoning navigation sensors (odometer and gyrometer). These measurements are hybridizate using recursive filters to estimate the position. We carry out the study of the position estimator in two stages. The first stage concerns the study and the implementation of an estimator for the phase and code observables fusion for the GPS multi-carrying. The experimentation on synthetic and real data shows that the proposed system allows to increase the measurement precision when the noise power, in each of the carrying, is in the same magnitude order. The second stage concerns the tight hybridization system which provides an estimate of the vehicle direction and the pseudo-ranges satellite-receiver, even without GPS measurements.
Within the framework, we propose a recursive circular filter which allows the estimation of the vehicle direction. The hybridization filter produces a centralized fusion of the corrected pseudo-ranges measurements and a distributed fusion of the phase observables with the gyrometric and odometric measurements.
The experimentation carried out in a synthetic and real context shows that the proposed system is at least as precise as the releases hybridization system usually used in practice.
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Contributor : Stanislas Boutoille <>
Submitted on : Thursday, June 28, 2007 - 11:49:29 AM
Last modification on : Friday, October 16, 2020 - 1:47:05 PM
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  • HAL Id : tel-00158238, version 1



Jamila Kacemi. Fusion d'Informations dans un Système de Positionnement Hybride GPS Multi-Porteuses/Estime. Traitement du signal et de l'image [eess.SP]. Université du Littoral Côte d'Opale, 2006. Français. ⟨tel-00158238⟩



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