Low-Cost Real-Time PPP GNSS Aided INS for CAV Applications

Many connected and autonomous vehicle (CAV) applications benefit from navigation technologies that reliably achieve lane-level accuracy. Global organizations have recently begun to provide real-time common-mode error corrections for Global Navigation Satellite Systems (GNSS) that enable this level o...

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Bibliographic Details
Published in:IEEE transactions on intelligent transportation systems 2022-12, Vol.23 (12), p.25018-25032
Main Authors: Rahman, Farzana, Silva, Felipe O., Jiang, Zeyi, Farrell, Jay A.
Format: Article
Language:English
Subjects:
Accuracy
Automotive engineering
Codes
Connected and autonomous vehicles
Error correction
Global navigation satellite system
global navigation satellite systems
Inertial navigation
Inertial platforms
Navigation satellites
Navigation systems
Phase measurement
precise point positioning
Real time
Real-time systems
Receivers
Reliability
Satellites
state estimation
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Summary:Many connected and autonomous vehicle (CAV) applications benefit from navigation technologies that reliably achieve lane-level accuracy. Global organizations have recently begun to provide real-time common-mode error corrections for Global Navigation Satellite Systems (GNSS) that enable this level of positioning accuracy using Precise Point Positioning (PPP). Incorporating an Inertial Measurement Unit (IMU) with a GNSS receiver can achieve this positioning performance reliably on moving platforms while providing a full state estimate, with high bandwidth at a high sampling rate. For commercial automotive applications cost is critical; therefore, this article focuses on commercial grade IMU's and single-frequency GNSS code and Doppler measurements. This article presents and demonstrates a tightly-coupled PPP GNSS aided Inertial Navigation System (INS) using only publicly available real-time data sources. The article discusses the role of the INS in automotive applications and how the quality of the IMU affects the ability to achieve that role. The experimental results demonstrate positioning accuracy that surpasses the Society of Automotive Engineering (SAE) J2945 specification (horizontal error ≤1.5 m and vertical error ≤ 3 m 68%).
ISSN:1524-9050
1558-0016
DOI:10.1109/TITS.2022.3208849