A ROBUST AUTONOMOUS VEHICULAR NAVIGATION SYSTEM USING RIMU-BASED INS/GNSS INTEGRATED SCHEME

A ROBUST AUTONOMOUS VEHICULAR NAVIGATION SYSTEM USING RIMU-BASED INS/GNSS INTEGRATED SCHEME

Blog Article

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 dodge challenger carbon fiber fenders 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 nitrile gloves in a bucket 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.