Emerging automotive applications require reliable but at the same time low-cost positioning solutions. In this paper, we present such a solution, by fusing the measurements from several consumer-grade sensors using a tightly-coupled centralized filter. The sensors used are a single-frequency GNSS receiver providing GPS and GLONASS pseudo-ranges and GPS carrier-phase measurements, a MEMS IMU, a monocular camera, wheel-speed and steering-angle sensors. We also employ vehicular constraints, integrated as pseudo-measurements. The centralized fusion architecture allows sensor cross-calibration and improves outlier detection. The filter runs in real time on the target platform, producing pose estimates at 30 Hz. Through extensive experimental evaluations, we demonstrate positioning accuracies of sub-meter 95-percentile horizontal errors even in GNSS-challenged deep-urban scenarios.
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