Design and Implementation of Monte Carlo Localization for Vehicle Altitude Estimation

[[abstract]]在現在的日子裡，高交通事故率已經慢慢變成了社會問題。所以我們提出用 自動駕駛來解決這些問題。在自動駕駛車裡面，非常重要的兩個資訊一個是姿態 另外一個則是位置。為了達到更穩定以及更精準的資訊，我們提出使用蒙特卡羅 法來增加精準度。而且為了達到此目的，我們計算使用低成本 IMU 跟 GPS 結合 蒙特卡羅法來達到更精準地控制。在此文章裡，我們也使用的航位推向法來做位 置的推測以及汽車的速度、方向來推測現在的位置。[[abstract]]During those time high accident rate became the social problem We need by use autonomous driving to solve those problem In autonomous driving car the very important information are attitude and position For more accurate and stable attitude and position information we propose to use Monte Carlo Localization to increase the accuracy For more accurate positions are calculated by using low-cost IMU and GPS data with Monte Carlo Localization For a better controlling this paper also proposes a dead reckoning method which using previous position velocity and direction of automobile to predict current positio