TY - JOUR
T1 - A Robust Autonomous Vehicular Navigation System Using RIMU-based INS/GNSS Integrated Scheme
AU - Chiang, Kai Wei
AU - Huang, Chi Hsin
AU - Chiu, Yu Ting
AU - Wu, Ting Chun
AU - Tsai, Syun
AU - Lin, Kuan Ying
N1 - Publisher Copyright:
© Author(s) 2023.
PY - 2023/12/14
Y1 - 2023/12/14
N2 - The application of the INS/GNSS integrated system is widespread in vehicle navigation. However, in certain complex urban areas, achieving accurate positioning for autonomous vehicles at level 3 and beyond presents a challenge. Moreover, ensuring the continuous availability of the navigation system is crucial for maintaining vehicle safety under all circumstances. Consequently, the specifications of the Inertial Measurement Unit (IMU), which have a direct correlation with cost, dominate the performance of the navigation system in environments where GNSS signals are denied or challenging. To implement level 3 autonomous vehicles, a strategy based on redundant IMUs (RIMU) is employed to not only enhance accuracy and availability but reduce the overall cost of the navigation system. This research mainly focuses on the development of a robust autonomous vehicular navigation system by designing an integrated algorithm for the low-cost RIMU and GNSS receiver within the INS/GNSS integration scheme. The positioning performance is analyzed by using a reference system and a benchmark system in the open sky, GNSS challenging, and GNSS outage scenarios.
AB - The application of the INS/GNSS integrated system is widespread in vehicle navigation. However, in certain complex urban areas, achieving accurate positioning for autonomous vehicles at level 3 and beyond presents a challenge. Moreover, ensuring the continuous availability of the navigation system is crucial for maintaining vehicle safety under all circumstances. Consequently, the specifications of the Inertial Measurement Unit (IMU), which have a direct correlation with cost, dominate the performance of the navigation system in environments where GNSS signals are denied or challenging. To implement level 3 autonomous vehicles, a strategy based on redundant IMUs (RIMU) is employed to not only enhance accuracy and availability but reduce the overall cost of the navigation system. This research mainly focuses on the development of a robust autonomous vehicular navigation system by designing an integrated algorithm for the low-cost RIMU and GNSS receiver within the INS/GNSS integration scheme. The positioning performance is analyzed by using a reference system and a benchmark system in the open sky, GNSS challenging, and GNSS outage scenarios.
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U2 - 10.5194/isprs-archives-XLVIII-1-W2-2023-791-2023
DO - 10.5194/isprs-archives-XLVIII-1-W2-2023-791-2023
M3 - Conference article
AN - SCOPUS:85183296869
SN - 1682-1750
VL - 48
SP - 791
EP - 797
JO - International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences - ISPRS Archives
JF - International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences - ISPRS Archives
IS - 1/W2-2023
T2 - 5th Geospatial Week 2023, GSW 2023
Y2 - 2 September 2023 through 7 September 2023
ER -