Low-cost GNSS/IMU for Autonomous Vehicle in Urban Area

- Evaluation of Relative and Absolute Positional Performance Considering Sideslip Angle -

Abstract

In this paper, we proposed a novel technique to realize accurate and robust position estimation in urban area. The technique makes the best use of averaging effect to optimize long time (over several tens of seconds) series sensor data. Our proposed scheme uses just a low-cost GNSS receiver, a MEMS IMU, and a speed sensor. Evaluation tests in a Japanese urban area showed that our proposed scheme can realize robust lane-level absolute positioning results.