Optimal INS/GNSS coupling for autonomous car positioning integrity

Çagatay Tanıl, Samer Khanafseh, Mathieu Joerger, Birendra Kujur, Brett Kruger, Lance De Groot, Boris Pervan

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Scopus citations

Abstract

Safe positioning is a critical capability for automated driving systems (ADAS). This paper describes optimal integration and filtering schemes of Inertial Measurement Units (IMU) and Global Navigation Satellite Systems (GNSS) measurements to improve and quantify positioning integrity in urban canyons with poor satellite signals. For a predefined integrity requirement, minimum achievable protection levels are quantified for realistic urban navigation scenarios.

Original languageEnglish (US)
Title of host publicationProceedings of the 32nd International Technical Meeting of the Satellite Division of the Institute of Navigation, ION GNSS+ 2019
PublisherInstitute of Navigation
Pages3123-3140
Number of pages18
ISBN (Electronic)0936406232, 9780936406237
DOIs
StatePublished - Jan 1 2019
Externally publishedYes
Event32nd International Technical Meeting of the Satellite Division of the Institute of Navigation, ION GNSS+ 2019 - Miami, United States
Duration: Sep 16 2019Sep 20 2019

Publication series

NameProceedings of the 32nd International Technical Meeting of the Satellite Division of the Institute of Navigation, ION GNSS+ 2019

Conference

Conference32nd International Technical Meeting of the Satellite Division of the Institute of Navigation, ION GNSS+ 2019
CountryUnited States
CityMiami
Period9/16/199/20/19

ASJC Scopus subject areas

  • Communication
  • Computer Science Applications
  • Information Systems
  • Software
  • Electrical and Electronic Engineering
  • Computer Networks and Communications

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  • Cite this

    Tanıl, Ç., Khanafseh, S., Joerger, M., Kujur, B., Kruger, B., De Groot, L., & Pervan, B. (2019). Optimal INS/GNSS coupling for autonomous car positioning integrity. In Proceedings of the 32nd International Technical Meeting of the Satellite Division of the Institute of Navigation, ION GNSS+ 2019 (pp. 3123-3140). (Proceedings of the 32nd International Technical Meeting of the Satellite Division of the Institute of Navigation, ION GNSS+ 2019). Institute of Navigation. https://doi.org/10.33012/2019.17013