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Using a single band GNSS receiver to improve relative positioning in autonomous cars

Erik Stenborg (Institutionen för signaler och system, Signalbehandling) ; Lars Hammarstrand (Institutionen för signaler och system, Signalbehandling)
IEEE Intelligent Vehicles Symposium, Proceedings. 2016 IEEE Intelligent Vehicles Symposium, IV 2016; Gotenburg; Sweden; 19 - 22 June 2016 (1931-0587). Vol. 2016-August (2016), p. Art no 7535498, Pages 921-926.
[Konferensbidrag, refereegranskat]

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.



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Denna post skapades 2016-05-23. Senast ändrad 2017-01-23.
CPL Pubid: 236839

 

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Institutioner (Chalmers)

Institutionen för signaler och system, Signalbehandling

Ämnesområden

Transport
Signalbehandling

Chalmers infrastruktur