Abstract
This paper describes a positioning method by GNSS/IMU integration using tightly coupled kalman filter and LEX signal. Tightly coupled kalman filter uses pseudorange and doppler frequency for observation update. Therefore, if a vehicle is in narrow sky environment, this filter could update states by using observation. LEX signal is GPS and QZSS performance enhancement function emitted from QZSS satellite. Therefore, it is expected that positioning accuracy is improved by using LEX signal. In this paper, the proposed method is evaluated on the course of Real World Robot Challenge at post processing.
