Optimal INS/GNSS Coupling for Autonomous Car Positioning Integrity

Proceedings of the 32nd International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2019) Pub Date : 2019-09-20 DOI:10.33012/2019.17013

Cagatay Tanil, S. Khanafseh, M. Joerger, Birendra Kujur, Brett Kruger, Lance de Groot, B. Pervan

引用次数: 15

Abstract

Safe positioning is a critical capability for automated driving systems (ADAS). This paper describes optimal integration and filtering schemes of Inertial Measurement Units (IMU) and Global Navigation Satellite Systems (GNSS) measurements to improve and quantify positioning integrity in urban canyons with poor satellite signals. For a predefined integrity requirement, minimum achievable protection levels are quantified for realistic urban navigation scenarios.

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自动驾驶汽车定位完整性优化INS/GNSS耦合

安全定位是自动驾驶系统(ADAS)的关键功能。本文介绍了惯性测量单元(IMU)和全球卫星导航系统(GNSS)测量的优化集成和滤波方案，以提高和量化卫星信号差的城市峡谷中的定位完整性。对于预定义的完整性要求，可实现的最低保护级别被量化为现实的城市导航场景。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Proceedings of the 32nd International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2019)

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