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Multisensor Localization Architecture for High-Accuracy and High-Integrity Land-based Applications

Garcia Crespillo, Omar and Grosch, Anja and Adjroloh, Patrick Honore and Zhu, Chen and Capua, Roberto and Frittella, Fabio and Kutik, Ondrej (2022) Multisensor Localization Architecture for High-Accuracy and High-Integrity Land-based Applications. 35th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2022), Denver, Colorado.

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Abstract

Emerging safety-related applications like autonomous vehicles will require high levels of navigation performance in terms of accuracy while still satisfying stringent requirements of integrity, availability and continuity. Achieving sub-meter accuracy in land-based scenarios with GNSS-based solutions can only be achieved with carrier-phase based approaches in combination with additional sensors. So that these solutions can be considered for future certified systems, the safety aspect must be ensured, which is still a challenge in the presence of local GNSS threats (like multipath or NLOS) as well as in multisensor architectures. In this work, we propose a multisensor architecture that uses float Real-Time Kinematic (RTK) GNSS with additional integrity information from an augmentation network. The architecture also considers different layers of protection against local GNSS threats that supports the rigorous design of integrity monitoring algorithms and protection level computation. GNSS is combined with additional sensors like Inertial Measurement Unit (IMU) and a robust relative location of the vehicle is complemented with stereo camera and vision processing. This allows for different possible types of localization modes. The algorithms are validated with real measurements collected with a car during a measurement in Rome, Italy. The results show clearly that our design can achieve high accuracy while ensuring high integrity.

Item URL in elib:https://elib.dlr.de/189300/
Document Type:Conference or Workshop Item (Speech)
Title:Multisensor Localization Architecture for High-Accuracy and High-Integrity Land-based Applications
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Garcia Crespillo, OmarUNSPECIFIEDhttps://orcid.org/0000-0002-2598-7636UNSPECIFIED
Grosch, AnjaUNSPECIFIEDhttps://orcid.org/0000-0001-9025-8723UNSPECIFIED
Adjroloh, Patrick HonoreUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Zhu, ChenUNSPECIFIEDhttps://orcid.org/0000-0002-4320-4826UNSPECIFIED
Capua, RobertoSogeiUNSPECIFIEDUNSPECIFIED
Frittella, FabioSogeiUNSPECIFIEDUNSPECIFIED
Kutik, OndrejRoboautoUNSPECIFIEDUNSPECIFIED
Date:September 2022
Refereed publication:No
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Status:Published
Keywords:GNSS, Multisensor, Integrity, autonomous vehicles,
Event Title:35th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2022)
Event Location:Denver, Colorado
Event Type:international Conference
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Communication, Navigation, Quantum Technology
DLR - Research area:Raumfahrt
DLR - Program:R KNQ - Communication, Navigation, Quantum Technology
DLR - Research theme (Project):R - GNSS Technologies and Services
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Communication and Navigation > Navigation
Deposited By: Garcia Crespillo, Omar
Deposited On:28 Oct 2022 11:47
Last Modified:29 Mar 2023 00:52

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