Optimal INS/GNSS Coupling for Autonomous Car Positioning Integrity

Cagatay Tanil, Samer Khanafseh, Mathieu Joerger, Birendra Kujur, Brett Kruger, Lance de Groot, Boris Pervan

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.
Published in: Proceedings of the 32nd International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2019)
September 16 - 20, 2019
Hyatt Regency Miami
Miami, Florida
Pages: 3123 - 3140
Cite this article: Tanil, Cagatay, Khanafseh, Samer, Joerger, Mathieu, Kujur, Birendra, Kruger, Brett, de Groot, Lance, Pervan, Boris, "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), Miami, Florida, September 2019, pp. 3123-3140.
https://doi.org/10.33012/2019.17013
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