Localisation et modélisation 3d par fusion multi-capteur - Grand Format

This book tackles the problem of precise localization of a moving vehicle using multisensor based approach. Therefore it addresses the integration and the processing of data issued from heterogeneous navigation systems : GPS and inertial navigation system and odometry. The reason for this integration is to exploit the advantages of each system used. Integration uses a numerical filtering to proceed to a compensation of the errors in position, velocity, and attitude of each sensor.
Emphasize was not address only on the integration, but also on the concepts of precision of the results.