Using a single band GNSS receiver to improve relative positioning in autonomous cars
Paper in proceedings, 2016

We show how the combination of a single band global navigation satellite systems (GNSS) receiver, standard automotive level inertial measurement unit (IMU), and wheel speed sensors, can be used for relative positioning with accuracy on a decimeter scale. It is realized without the need for expensive dual band receivers, base stations or long initialization times. This is implemented and evaluated in a natural driving environment against a reference systems and against two simple base line systems; one using only IMU and wheel speed sensors, the other also adding basic GNSS. The proposed solution provides substantially slower error growth than either of the two base line systems.

Author

Erik Stenborg

Chalmers, Signals and Systems, Signalbehandling och medicinsk teknik, Signal Processing

Lars Hammarstrand

Chalmers, Signals and Systems, Signalbehandling och medicinsk teknik, Signal Processing

IEEE Intelligent Vehicles Symposium, Proceedings

Vol. 2016-August Art no 7535498, Pages 921-926 7535498

COPPLAR CampusShuttle cooperative perception & planning platform

VINNOVA, 2016-01-01 -- 2018-12-31.

Areas of Advance

Transport

Subject Categories

Signal Processing

DOI

10.1109/IVS.2016.7535498

More information

Latest update

4/11/2019