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Paper Abstract and Keywords
Presentation 2017-12-15 10:20
A study on improvement of position estimation for bicycle using GPS and IMU
Takuya Hayashi, Kazunori Uruma, Seiichirou Hangai (TUS) WBS2017-65 ITS2017-42 RCC2017-81
Abstract (in Japanese) (See Japanese page) 
(in English) This paper describes a method for improving the accuracy of position estimation of bicycle to build Navigation System for Safety Driving of Bicycle. In general, position estimation can be performed with high accuracy using GPS, but the accuracy may deteriorate depending on the running position of the bicycle. Therefore, in this paper, we improve the accuracy of position estimation by integrating information from speed sensor and magnetic sensor by Kalman filter. Furthermore, even in environments where GPS radio waves cannot be received, by integrating the gyro sensor and the magnetic sensor, this paper improves the accuracy when compared with positioning using only one sensor. Experimental results show that, the error of 1.5m occurred in positioning data only by GPS, but the error of 1.1m in positioning data by Kalman filter. Moreover, even in an environment where GPS radio waves cannot be received, error of 3.0m occurred only by gyroscope, error of 1.9m only by magnetometer but the error of 1.8m in positioning data by integrating gyroscope and magnetometer.
Keyword (in Japanese) (See Japanese page) 
(in English) Bicycle / Navigation / IMU / GPS / / / /  
Reference Info. IEICE Tech. Rep., vol. 117, no. 347, ITS2017-42, pp. 167-172, Dec. 2017.
Paper # ITS2017-42 
Date of Issue 2017-12-07 (WBS, ITS, RCC) 
ISSN Print edition: ISSN 0913-5685  Online edition: ISSN 2432-6380
All rights are reserved and no part of this publication may be reproduced or transmitted in any form or by any means, electronic or mechanical, including photocopy, recording, or any information storage and retrieval system, without permission in writing from the publisher. Notwithstanding, instructors are permitted to photocopy isolated articles for noncommercial classroom use without fee. (License No.: 10GA0019/12GB0052/13GB0056/17GB0034/18GB0034)
Download PDF WBS2017-65 ITS2017-42 RCC2017-81

Conference Information
Committee ITS WBS RCC  
Conference Date 2017-12-14 - 2017-12-15 
Place (in Japanese) (See Japanese page) 
Place (in English) Tiruru/Okinawa Jichikaikan 
Topics (in Japanese) (See Japanese page) 
Topics (in English) ITS Communications, Reliable Communication and Control, Rader and Sensing, etc. 
Paper Information
Registration To ITS 
Conference Code 2017-12-ITS-WBS-RCC 
Language Japanese 
Title (in Japanese) (See Japanese page) 
Sub Title (in Japanese) (See Japanese page) 
Title (in English) A study on improvement of position estimation for bicycle using GPS and IMU 
Sub Title (in English)  
Keyword(1) Bicycle  
Keyword(2) Navigation  
Keyword(3) IMU  
Keyword(4) GPS  
1st Author's Name Takuya Hayashi  
1st Author's Affiliation Tokyo University of Science (TUS)
2nd Author's Name Kazunori Uruma  
2nd Author's Affiliation Tokyo University of Science (TUS)
3rd Author's Name Seiichirou Hangai  
3rd Author's Affiliation Tokyo University of Science (TUS)
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Date Time 2017-12-15 10:20:00 
Presentation Time 25 
Registration for ITS 
Paper # IEICE-WBS2017-65,IEICE-ITS2017-42,IEICE-RCC2017-81 
Volume (vol) IEICE-117 
Number (no) no.346(WBS), no.347(ITS), no.348(RCC) 
Page pp.167-172 
#Pages IEICE-6 
Date of Issue IEICE-WBS-2017-12-07,IEICE-ITS-2017-12-07,IEICE-RCC-2017-12-07 

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