Positioning System for an Electric Autonomous Vehicle Based on the Fusion of Multi-GNSS RTK and Odometry by Using an Extented Kalman Filter

摘要

This paper presents a global positioning system for an autonomous electric vehicle based on a Real-Time Kinematic Global Navigation Satellite System (RTK- GNSS), and an incremental-encoder odometry system. Both elements are fused to a single system by an Extended Kalman Filter (EKF), reaching centimeter accuracy. Some varied experiments have been carried out in a real urban environment to compare the performance of this positioning architectures separately and fused together. The achieved aim was to provide autonomous vehicles with centimeter precision on geolocalization to navigate through a real lane net.