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The Scientific World Journal
Volume 2014 (2014), Article ID 597180, 13 pages
Research Article

A Novel Vehicle Stationary Detection Utilizing Map Matching and IMU Sensors

Department of Electrical, Electronic and Systems Engineering, Universiti Kebangsaan Malaysia (UKM), 43600 Bangi, Selangor, Malaysia

Received 21 May 2014; Revised 13 July 2014; Accepted 24 July 2014; Published 7 September 2014

Academic Editor: Wei-Jen Wang

Copyright © 2014 Md. Syedul Amin et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


Precise navigation is a vital need for many modern vehicular applications. The global positioning system (GPS) cannot provide continuous navigation information in urban areas. The widely used inertial navigation system (INS) can provide full vehicle state at high rates. However, the accuracy diverges quickly in low cost microelectromechanical systems (MEMS) based INS due to bias, drift, noise, and other errors. These errors can be corrected in a stationary state. But detecting stationary state is a challenging task. A novel stationary state detection technique from the variation of acceleration, heading, and pitch and roll of an attitude heading reference system (AHRS) built from the inertial measurement unit (IMU) sensors is proposed. Besides, the map matching (MM) algorithm detects the intersections where the vehicle is likely to stop. Combining these two results, the stationary state is detected with a smaller timing window of 3 s. A longer timing window of 5 s is used when the stationary state is detected only from the AHRS. The experimental results show that the stationary state is correctly identified and the position error is reduced to 90% and outperforms previously reported work. The proposed algorithm would help to reduce INS errors and enhance the performance of the navigation system.