A GPS/Galileo Tightly-coupled Localization System for Safety-relevant Automotive Assistance Systems

Hans-Georg Busing, Martin Escher, Tobias Scheide, Peter Hecker

Abstract:	The Institute of Flight Guidance has presented a system architecture for an automotive localization system at the ION GNSS 2010. Based on a series of test drives in different environments the system has been defined. The localization unit makes use of three sources of input: GNSS raw data measurements, data from the vehicle sensors bus for dead reckoning as well as correction data from an RTK network. In the meantime the system has been implemented and its performance will be presented in this paper. The localization unit has been implemented in the “Automotive Data and Time-Triggered Framework” (ADTF). It is a software framework that allows processing data from various input sources. The framework cares for synchronous data handling, allows real-time data processing and provides a data recording and playback utility. The localization system is realized as a tightly-coupled data fusion. In each update step, the vehicle state is predicted from the kinematic model based on the Ackermann geometry. The measurement update is then performed depending on the available data type. If the data fusion receives data from the vehicle network, a dead reckoning update will be performed with measurements from the rear wheel odometers, a longitudinal accelerometer and a yaw gyroscope. These sensors are standard series equipment of the used vehicle. If the measurement data is received from the GNSS receiver the vehicle state will be updated using GNSS range and Doppler measurements. The paper concludes with a qualitative and quantitative performance assessment of the implemented data fusion.
Published in:	Proceedings of the 24th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2011) September 20 - 23, 2011 Oregon Convention Center, Portland, Oregon Portland, OR
Pages:	356 - 362
Cite this article:	Busing, Hans-Georg, Escher, Martin, Scheide, Tobias, Hecker, Peter, "A GPS/Galileo Tightly-coupled Localization System for Safety-relevant Automotive Assistance Systems," Proceedings of the 24th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2011), Portland, OR, September 2011, pp. 356-362.
Full Paper:	ION Members/Non-Members: 1 Download Credit Sign In