Using a single band GNSS receiver to improve relative positioning in autonomous cars
Paper i proceeding, 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.


Erik Stenborg

Chalmers, Signaler och system, Signalbehandling och medicinsk teknik

Lars Hammarstrand

Chalmers, Signaler och system, Signalbehandling och medicinsk teknik

IEEE Intelligent Vehicles Symposium, Proceedings

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

COPPLAR CampusShuttle cooperative perception & planning platform

VINNOVA (2015-04849), 2016-01-01 -- 2018-12-31.







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