ACCURATE POSITIONING IN GNSS-CHALLENGED ENVIRONMENTS WITH CONSUMER-GRADE SENSORS

摘要

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 pseudoranges and GPS carrier-phase measurements, a micro-electro-mechanical (MEMS) inertial measurement unit (IMU), a monocular camera, wheel-speed and steering-angle sensors.