A High-Precision Vehicle Navigation System Based on Tightly Coupled PPP-RTK/INS/ Odometer Integration

High-precision position, velocity, and orientation information is essential for vehicles to achieve autonomous driving. In this contribution, we propose a multi-sensor integration system for high-precision vehicle navigation, based on the fusion of GNSS PPP-RTK, MEMS IMU, and wheel odometer. Meanwhi...

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Veröffentlicht in:	IEEE transactions on intelligent transportation systems 2023-02, Vol.24 (2), p.1-12
Hauptverfasser:	Li, Xingxing, Qin, Zeyang, Shen, Zhiheng, Li, Xin, Zhou, Yuxuan, Song, Baoshan
Format:	Artikel
Sprache:	eng
Schlagworte:	Centimeter-level positioning Delays Global navigation satellite system GNSS PPP-RTK Kalman filters MEMS IMU multi-sensor fusion Navigation Navigation systems Odometers Physical properties Position errors Receivers Satellites Sensors wheel odometer Wheels
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