Vehicle Localization with Vehicle Dynamics During GNSS Outages

Abstract

Vehicle localization system is one of the most important systems of autonomous vehicles. To improve the localization accuracy during Global Navigation Satellite System (GNSS) outages, this paper presents a GNSS/Inertial Measurement System (IMU)/Wheel speed sensor (WSS) integrated localization system considering vehicle dynamics. The vehicle dynamics model and kinematics model are applied to estimate sideslip angle, which is used to calculate course angle of the vehicle so that the accurate vehicle speed in navigation coordinates could be obtained. When the GNSS measurements are available, the position measurements and heading angle measurements are fed back to the system, and all the sensor information is fused in a Kalman filter. Experiments were conducted to verify the proposed fusion method, and the results show that the consideration of vehicle dynamic characteristics is helpful to improve the localization accuracy during GNSS outages.