Vehicle localization system is one of the most important systems of autonomous vehicles. To improve the localization accuracy during Global Navigation Satellite System (GNSS) outages, this paper presents a GNSS/Inertial Measurement System (IMU)/Wheel speed sensor (WSS) integrated localization system considering vehicle dynamics. The vehicle dynamics model and kinematics model are applied to estimate sideslip angle, which is used to calculate course angle of the vehicle so that the accurate vehicle speed in navigation coordinates could be obtained. When the GNSS measurements are available, the position measurements and heading angle measurements are fed back to the system, and all the sensor information is fused in a Kalman filter. Experiments were conducted to verify the proposed fusion method, and the results show that the consideration of vehicle dynamic characteristics is helpful to improve the localization accuracy during GNSS outages.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Vehicle Localization with Vehicle Dynamics During GNSS Outages


    Weitere Titelangaben:

    Lect.Notes Mechanical Engineering


    Beteiligte:
    Klomp, Matthijs (Herausgeber:in) / Bruzelius, Fredrik (Herausgeber:in) / Nielsen, Jens (Herausgeber:in) / Hillemyr, Angela (Herausgeber:in) / Gao, Letian (Autor:in) / Xiong, Lu (Autor:in) / Xia, Xin (Autor:in) / Lu, Yishi (Autor:in) / Yu, Zhuoping (Autor:in)

    Kongress:

    The IAVSD International Symposium on Dynamics of Vehicles on Roads and Tracks ; 2019 ; Gothenburg, Sweden August 12, 2019 - August 16, 2019



    Erscheinungsdatum :

    2020-02-13


    Format / Umfang :

    9 pages





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




    Vehicle Localization with Vehicle Dynamics During GNSS Outages

    Gao, Letian / Xiong, Lu / Xia, Xin et al. | TIBKAT | 2020


    GNSS LOCALIZATION USING VEHICLE SENSORS

    SONG XIAOFENG F / DENG BING / YUAN JUN | Europäisches Patentamt | 2019

    Freier Zugriff

    GPS/GNSS Consistency in a Multi-path Environment and During Signal Outages

    Worrall, Stewart / Ward, James / Bender, Asher et al. | IEEE | 2015


    VEHICLE LOCALIZATION WITH TIGHTLY COUPLED GNSS AND VISUAL ODOMETRY

    Schreiber, Markus / Königshof, Hendrik / Hellmund, André-Marcel et al. | British Library Conference Proceedings | 2016


    Vehicle localization with tightly coupled GNSS and visual odometry

    Schreiber, Markus / Konigshof, Hendrik / Hellmund, Andre-Marcel et al. | IEEE | 2016