Sequential Data Fusion of GNSS Pseudoranges and Dopplers With Map-Based Vision Systems

Tightly coupling Global Navigation Satellite System (GNSS) pseudorange and Doppler measurements with other sensors is known to increase the accuracy and consistency of positioning information. Nowadays, high-accuracy geo-referenced lane marking maps are seen as key information sources in autonomous vehicle navigation. When an exteroceptive sensor such as a video camera or a lidar is used to detect them, lane markings provide positioning information which can be merged with GNSS data. In this paper, measurements from a forward-looking video camera are merged with raw GNSS pseudoranges and Dopplers on visible satellites. To create a localization system that provides pose estimates with high availability, dead reckoning sensors are also integrated. The data fusion problem is then formulated as sequential filtering. A reduced-order state space modeling of the observation problem is proposed to give a real-time system that is easy to implement. A Kalman filter with measured input and correlated noises is developed using a suitable error model of the GNSS pseudoranges. The authors' experimental results show that this tightly coupled approach performs better, in terms of accuracy and consistency, than a loosely coupled method using GNSS fixes as inputs.

• Record URL:
  https://doi.org/10.1109/TIV.2017.2658185
• Availability:
  • Find a library where document is available. Order URL: http://worldcat.org/issn/23798858
• Supplemental Notes:
  • Copyright © 2017 Marine Technology Society, Inc.
• Authors:
  • Tao, Zui
  • Bonnifait, Philippe
• Publication Date: 2016-9

Language

• English

Media Info

• Media Type: Web
• Features: References;
• Pagination: pp 254-265
• Serial:
  • IEEE Transactions on Intelligent Vehicles
  • Volume: 1
  • Issue Number: 3
  • Publisher: Institute of Electrical and Electronics Engineers (IEEE)
  • ISSN: 2379-8858
  • Serial URL: http://ieeexplore.ieee.org/xpl/RecentIssue.jsp?punumber=7274857

Subject/Index Terms

• TRT Terms: Data fusion; Digital mapping; Doppler navigation; Intelligent vehicles; Kalman filtering; Satellite navigation systems
• Identifier Terms: Global Navigation Satellite System
• Uncontrolled Terms: Pseudorange
• Subject Areas: Data and Information Technology; Highways; Operations and Traffic Management; Vehicles and Equipment;

Filing Info

• Accession Number: 01633995
• Record Type: Publication
• Files: TRIS
• Created Date: May 1 2017 9:37AM