Precise positioning and navigation are crucial for autonomous vehicles. An attempt to improve the preciseness of position and navigation measurements is made by using multiple sensors. This research proposes a multi-sensor integrated positioning and navigation system using cascaded data fusion for ground vehicles. The system consists of multiple Inertial Measurement Units (IMUs) and a Global Navigation Satellite System (GNSS) receiver. An approach for fusing multiple redundant IMUs using a weighted average is proposed to obtain a virtual IMU. The virtual IMU and GNSS are integrated using a loosely-coupled approach. The system is tested on a ground vehicle with particle models. Two datasets are used: one collected on a straight road and another collected in a suburban area. The results show that the proposed method improves the preciseness of position and navigation measurement.


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    Titel :

    Enhancing Autonomous Ground Vehicle Positioning and Navigation through Cascaded Multi-Sensor Integration


    Beteiligte:


    Erscheinungsdatum :

    2023-11-14


    Format / Umfang :

    1333335 byte





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



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