GPS and IMU Integration on an autonomous vehicle using Kalman filter (LabView Tool)

Abstract

In the case of Autonomous vehicle the Navigation of Autonomous Vehicle is an important part and the major factor for its Operation. If there’s an issue or problem in terms of accuracy with the navigation system it may harmful for the vehicle and the surrounding environment. So to determine the vehicle localization and position GPS (Global Positioning System) which uses the reference geographical coordinates determine the Vehicle localization and position. But there are some drawback of the this (GPS) system which has physical barrier error, multipath error signal strength week in the tunnel near tall buildings is also need to consider in operation path of the vehicle and also the signal from the GPS get affected by surrounding environment change in the climate. So for that purpose we need the system which can not affected by environment changes and problem related to signal strength that is IMU (Inertial Measurement Unit) which consists of total 6 axis i.e. 3 for acceleration in X, Y, Z direction and Gyroscope Axis in X, Y, Z axis which provides the Yaw rate, Pitch rate, Roll rate it will provide the signal in the absence of GPS signal so that IMU is a loosely coupled with GPS by using Kalman filter.