Positioning Accuracy Verification for Automotive Application Using Height Movement of GNSS/IMU

Abstract

In this paper, we consider a method to show the reliability of GNSS positioning accuracy. In the past, the FIX solution of RTK-GNSS was used to show the reliability of the positioning result of GNSS. However, in urban areas, the positioning accuracy decreases due to multipath, and FIX solutions with large errors occur. We propose a method to verify the reliability of GNSS focusing on height fluctuation. GNSS has a feature that errors easily occur in the height direction. In addition, since the fluctuation of the height of general roads is small, it is considered easy to estimate. Estimation of vehicle height fluctuation enables verification of GNSS reliability.