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A Robust Vehicle Localization Approach Based on GNSS/IMU/DMI/LiDAR Sensor Fusion for Autonomous Vehicles

Sensors (Basel, Switzerland), 2017-09, Vol.17 (9), p.2140 [Peer Reviewed Journal]

Copyright MDPI AG 2017 ;2017 by the authors. 2017 ;ISSN: 1424-8220 ;EISSN: 1424-8220 ;DOI: 10.3390/s17092140 ;PMID: 28926996

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  • Title:
    A Robust Vehicle Localization Approach Based on GNSS/IMU/DMI/LiDAR Sensor Fusion for Autonomous Vehicles
  • Author: Meng, Xiaoli ; Wang, Heng ; Liu, Bingbing
  • Subjects: Algorithms ; Fault detection ; Global navigation satellite system ; Lidar ; Localization ; Localization method ; Measuring instruments ; Navigation satellites ; Performance enhancement ; Robustness ; Satellite-borne instruments ; sensor fusion ; Unscented Kalman Filter (UKF) ; vehicle localization
  • Is Part Of: Sensors (Basel, Switzerland), 2017-09, Vol.17 (9), p.2140
  • Description: Precise and robust localization in a large-scale outdoor environment is essential for an autonomous vehicle. In order to improve the performance of the fusion of GNSS (Global Navigation Satellite System)/IMU (Inertial Measurement Unit)/DMI (Distance-Measuring Instruments), a multi-constraint fault detection approach is proposed to smooth the vehicle locations in spite of GNSS jumps. Furthermore, the lateral localization error is compensated by the point cloud-based lateral localization method proposed in this paper. Experiment results have verified the algorithms proposed in this paper, which shows that the algorithms proposed in this paper are capable of providing precise and robust vehicle localization.
  • Publisher: Switzerland: MDPI AG
  • Language: English
  • Identifier: ISSN: 1424-8220
    EISSN: 1424-8220
    DOI: 10.3390/s17092140
    PMID: 28926996
  • Source: Open Access: PubMed Central
    Geneva Foundation Free Medical Journals at publisher websites
    AUTh Library subscriptions: ProQuest Central
    ROAD: Directory of Open Access Scholarly Resources
    DOAJ Directory of Open Access Journals
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