Multiple-Sensors-Fusion for Localization of a Container-Truck using a Fast Particle Filter

Abstract

This paper presents a particle filter approach to localize a container truck system using indoor global positioning system (iGPS), radio frequency identification (RFID) and inertial measurement unit (IMU) that consists of accelerometer, gyroscope, and magnetometer. A fast particle filter conducted by the properties of Gaussian probability density function is proposed to perform fast and low-cost computation. The prediction, particle weighting, and estimation stages are used to estimate the angle and the position of the container-truck. The effectiveness and the applicability of the proposed fusion algorithm for localization of a container-truck using the multiple sensors of iGPS, RFID, and IMU are shown by experimental results.