Low-cost GNSS/IMU for Autonomous Vehicle in Urban Area

In this paper, the authors proposed a novel technique to realize accurate and robust position estimation in urban area. The technique makes the best use of averaging effect to optimize long time (over several tens of seconds) series sensor data. The proposed scheme uses just a low-cost GNSS receiver, a MEMS IMU, and a speed sensor. Evaluation tests in a Japanese urban area showed that the authors' proposed scheme can realize robust lane-level absolute positioning results.


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Filing Info

  • Accession Number: 01748512
  • Record Type: Publication
  • Source Agency: Japan Science and Technology Agency (JST)
  • Files: TRIS, JSTAGE
  • Created Date: Jul 28 2020 3:14PM