PMID- 26580622
OWN - NLM
STAT- PubMed-not-MEDLINE
DCOM- 20160224
LR  - 20181113
IS  - 1424-8220 (Electronic)
IS  - 1424-8220 (Linking)
VI  - 15
IP  - 11
DP  - 2015 Nov 13
TI  - Vehicle Position Estimation Based on Magnetic Markers: Enhanced Accuracy by 
      Compensation of Time Delays.
PG  - 28807-25
LID - 10.3390/s151128807 [doi]
AB  - The real-time recognition of absolute (or relative) position and orientation on a 
      network of roads is a core technology for fully automated or driving-assisted 
      vehicles. This paper presents an empirical investigation of the design, 
      implementation, and evaluation of a self-positioning system based on a magnetic 
      marker reference sensing method for an autonomous vehicle. Specifically, the 
      estimation accuracy of the magnetic sensing ruler (MSR) in the up-to-date 
      estimation of the actual position was successfully enhanced by compensating for 
      time delays in signal processing when detecting the vertical magnetic field (VMF) 
      in an array of signals. In this study, the signal processing scheme was developed 
      to minimize the effects of the distortion of measured signals when estimating the 
      relative positional information based on magnetic signals obtained using the MSR. 
      In other words, the center point in a 2D magnetic field contour plot 
      corresponding to the actual position of magnetic markers was estimated by 
      tracking the errors between pre-defined reference models and measured magnetic 
      signals. The algorithm proposed in this study was validated by experimental 
      measurements using a test vehicle on a pilot network of roads. From the results, 
      the positioning error was found to be less than 0.04 m on average in an 
      operational test.
FAU - Byun, Yeun-Sub
AU  - Byun YS
AD  - Korea Railroad Research Institute, 176 Cheoldo bangmulgwan-ro, Uiwang, 
      Gyeonggi-do 16105, Korea. ysbyun@krri.re.kr.
FAU - Jeong, Rag-Gyo
AU  - Jeong RG
AD  - Korea Railroad Research Institute, 176 Cheoldo bangmulgwan-ro, Uiwang, 
      Gyeonggi-do 16105, Korea. rgjeong@krri.re.kr.
FAU - Kang, Seok-Won
AU  - Kang SW
AD  - Korea Railroad Research Institute, 176 Cheoldo bangmulgwan-ro, Uiwang, 
      Gyeonggi-do 16105, Korea. swkang@krri.re.kr.
LA  - eng
PT  - Journal Article
DEP - 20151113
PL  - Switzerland
TA  - Sensors (Basel)
JT  - Sensors (Basel, Switzerland)
JID - 101204366
PMC - PMC4701309
OTO - NOTNLM
OT  - localization
OT  - magnetic marker
OT  - magnetic sensing system (MSS)
OT  - peak detection
OT  - vertical magnetic field (VMF)
EDAT- 2015/11/19 06:00
MHDA- 2015/11/19 06:01
PMCR- 2015/11/01
CRDT- 2015/11/19 06:00
PHST- 2015/09/03 00:00 [received]
PHST- 2015/10/26 00:00 [revised]
PHST- 2015/11/11 00:00 [accepted]
PHST- 2015/11/19 06:00 [entrez]
PHST- 2015/11/19 06:00 [pubmed]
PHST- 2015/11/19 06:01 [medline]
PHST- 2015/11/01 00:00 [pmc-release]
AID - s151128807 [pii]
AID - sensors-15-28807 [pii]
AID - 10.3390/s151128807 [doi]
PST - epublish
SO  - Sensors (Basel). 2015 Nov 13;15(11):28807-25. doi: 10.3390/s151128807.