Hybridization of GNSS and On-Board Sensors for Validating the Aurora Ecosystem

Show simple item record

dc.contributor.author Kirkko-Jaakkola, Martti
dc.contributor.author Marila, Simo
dc.contributor.author Sarang, Thombre
dc.contributor.author Honkala, Salomon
dc.contributor.author Koivula, Hannu
dc.contributor.author Kuusniemi, Heidi
dc.contributor.author Söderholm, Stefan
dc.date.accessioned 2020-11-25T11:15:50Z
dc.date.available 2020-11-25T11:15:50Z
dc.date.issued 2019
dc.identifier.isbn 0-936406-23-2
dc.identifier.issn 2331-5954
dc.identifier.uri http://hdl.handle.net/10138/321937
dc.description.abstract This paper presents a hybrid navigation algorithm based on loose coupling of the on-board speedometer and inertial sensors of a land vehicle with a GNSS receiver. An Extended Kalman Filter estimating ten error states is used as the hybridization framework. The algorithm is developed to serve as a baseline for the evaluation of the navigation infrastructure of the Aurora ecosystem which is an Arctic test bed for autonomous vehicles and intelligent transport systems. In the experimental tests we focus on the performance of the navigation algorithm during GNSS outages. First, the tests indicate that the quality of GNSS updates has an immediate effect on how fast the position errors accumulate when GNSS becomes unavailable. Second, using low-cost sensors together with the current navigation infrastructure available at the Aurora test site, GNSS position fixes need to be obtained at intervals no longer than 4 seconds in order to maintain a 95 % horizontal positioning accuracy better than 0.2 meters. The results serve as a basis for recommendations for further development of the Aurora ecosystem, suggesting that further positioning infrastructure could be deployed for guaranteeing a navigation performance adequate for autonomous vehicles. fi
dc.language.iso en fi
dc.relation.ispartofseries Proceedings of the 32nd International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2019) September 16 - 20, 2019, Hyatt Regency Miami, Miami, Florida fi
dc.title Hybridization of GNSS and On-Board Sensors for Validating the Aurora Ecosystem fi
dc.type Artikkeli kirjassa fi
dc.format.volume 2019 fi

Files in this item

Total number of downloads: Loading...

Files Size Format View
2019KirkkoJaakkola18607.pdf 1.703Mb PDF View/Open

This item appears in the following Collection(s)

Show simple item record