A Fuzzy Controller for GPS/INS/Odm Integrated Navigation System

Mounir Hammouche, Samir Sakhi, Mahmoud Belhocine, Abdelhafid Elourdi, Samir Bouaziz

Abstract

Navigation technology has an important role in designing intelligent vehicles and advanced robots. To have a continuous navigation solution that does not suffer from interruption, GPS (Global Positioning System) data is merged with relative positioning techniques such as inertial navigation system (INS) or odometry (Odm). To accomplish the reliability and integrity desired, it is therefore necessary to take into account physical capabilities and limitations of each sensor during navigation. A fuzzy switcher controller (FSC) is well suited for this task. FSC is an Expert rule-based method for choosing the best fusion from multiple redundant integration methodologies (GPS/INS, GPS/Odometry, Odometry/INS or GPS/INS/Odometry) based on navigation conditions and accuracy of the navigation systems.

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Paper Citation


in Harvard Style

Hammouche M., Sakhi S., Belhocine M., Elourdi A. and Bouaziz S. (2016). A Fuzzy Controller for GPS/INS/Odm Integrated Navigation System . In Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-198-4, pages 390-397. DOI: 10.5220/0005984103900397


in Bibtex Style

@conference{icinco16,
author={Mounir Hammouche and Samir Sakhi and Mahmoud Belhocine and Abdelhafid Elourdi and Samir Bouaziz},
title={A Fuzzy Controller for GPS/INS/Odm Integrated Navigation System},
booktitle={Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2016},
pages={390-397},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005984103900397},
isbn={978-989-758-198-4},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - A Fuzzy Controller for GPS/INS/Odm Integrated Navigation System
SN - 978-989-758-198-4
AU - Hammouche M.
AU - Sakhi S.
AU - Belhocine M.
AU - Elourdi A.
AU - Bouaziz S.
PY - 2016
SP - 390
EP - 397
DO - 10.5220/0005984103900397