Uncertainty Aware Sensor Fusion for a GNSS-based Collision Avoidance System

Alexander Katriniok, Jan P. Maschuw, Dirk Abel, Frederick Christen, Lutz Eckstein

Abstract:	The performance that can be achieved by safety critical systems which are based on information on their absolute position inherently depends on the accuracy and the update rate that is provided by the navigation system. A Collision Avoidance System (CAS) that is intended to prevent collisions between vehicles by an autonomous braking resp. evasion maneuver is such a safety critical system and will be subject of consideration in this paper. In this context, the employed sensor fusion algorithm that provides a navigation solution with high update rate based on an inertial navigation system (INS) as well as on a Global Navigation Satellite System (GNSS) will be presented. Furthermore, a method to assess the actual accuracy provided by GNSS resp. sensor fusion will be introduced. Subsequently, the paper shows how this information can be incorporated into sensor fusion. Obviously, the feasibility of CAS inherently depends on the accuracy that can be obtained from GNSS. Therefore, CAS will be developed and tested in a terrestrial Galileo test and development environment (GATE) near Aachen (Germany) where a positional accuracy of about 0.8 meters can be achieved. Finally, first simulation results based on measurement data will be presented to evaluate the sensor fusion algorithm as well as the method to assess the actual navigation accuracy.
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:	968 - 978
Cite this article:	Katriniok, Alexander, Maschuw, Jan P., Abel, Dirk, Christen, Frederick, Eckstein, Lutz, "Uncertainty Aware Sensor Fusion for a GNSS-based Collision Avoidance System," Proceedings of the 24th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2011), Portland, OR, September 2011, pp. 968-978.
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