{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,30]],"date-time":"2026-04-30T05:38:59Z","timestamp":1777527539240,"version":"3.51.4"},"reference-count":44,"publisher":"MDPI AG","issue":"6","license":[{"start":{"date-parts":[[2016,5,25]],"date-time":"2016-05-25T00:00:00Z","timestamp":1464134400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["61273236"],"award-info":[{"award-number":["61273236"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"name":"Jiangsu Provincial Basic Research Program (Natural Science Foundation)","award":["BK2010239"],"award-info":[{"award-number":["BK2010239"]}]},{"name":"Doctoral Fund for Youth Teachers of Ministry of Education of China","award":["200802861061"],"award-info":[{"award-number":["200802861061"]}]},{"name":"Scientific Research Foundation of Graduate School of Southeast University","award":["YBJJ1637"],"award-info":[{"award-number":["YBJJ1637"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>In this paper, we propose a novel positioning solution for land vehicles which is highly reliable and cost-efficient. The proposed positioning system fuses information from the MEMS-based reduced inertial sensor system (RISS) which consists of one vertical gyroscope and two horizontal accelerometers, low-cost GPS, and supplementary sensors and sources. First, pitch and roll angle are accurately estimated based on a vehicle kinematic model. Meanwhile, the negative effect of the uncertain nonlinear drift of MEMS inertial sensors is eliminated by an H\u221e filter. Further, a distributed-dual-H\u221e filtering (DDHF) mechanism is adopted to address the uncertain nonlinear drift of the MEMS-RISS and make full use of the supplementary sensors and sources. The DDHF is composed of a main H\u221e filter (MHF) and an auxiliary H\u221e filter (AHF). Finally, a generalized regression neural network (GRNN) module with good approximation capability is specially designed for the MEMS-RISS. A hybrid methodology which combines the GRNN module and the AHF is utilized to compensate for RISS position errors during GPS outages. To verify the effectiveness of the proposed solution, road-test experiments with various scenarios were performed. The experimental results illustrate that the proposed system can achieve accurate and reliable positioning for land vehicles.<\/jats:p>","DOI":"10.3390\/s16060755","type":"journal-article","created":{"date-parts":[[2016,5,25]],"date-time":"2016-05-25T09:15:07Z","timestamp":1464167707000},"page":"755","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":6,"title":["A Highly Reliable and Cost-Efficient Multi-Sensor System for Land Vehicle Positioning"],"prefix":"10.3390","volume":"16","author":[{"given":"Xu","family":"Li","sequence":"first","affiliation":[{"name":"School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Qimin","family":"Xu","sequence":"additional","affiliation":[{"name":"School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Bin","family":"Li","sequence":"additional","affiliation":[{"name":"Key Laboratory of Technology on Intelligent Transportation Systems Ministry of Transport, Research Institute of Highway Ministry of Transport, Beijing 100088, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Xianghui","family":"Song","sequence":"additional","affiliation":[{"name":"Key Laboratory of Technology on Intelligent Transportation Systems Ministry of Transport, Research Institute of Highway Ministry of Transport, Beijing 100088, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2016,5,25]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"935","DOI":"10.1109\/TASE.2014.2383357","article-title":"Robust UAV relative navigation with DGPS, INS, and peer-to-peer radio ranging","volume":"12","author":"Gross","year":"2015","journal-title":"IEEE Trans. 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