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.
Enhancing Autonomous Ground Vehicle Positioning and Navigation through Cascaded Multi-Sensor Integration
2023-11-14
1333335 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
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