実環境に則した誤差が生成可能なGNSS/IMUシミュレータの開発

―性能劣化要因の簡易的な模擬による位置推定誤差予測の実現―

抄録

In the current field of autonomous driving, there is a significant focus on the development and utilization of simulators. However, existing autonomous driving simulators often lack thorough consideration for position estimation, particularly regarding GNSS and IMU. This research aims to develop a GNSS/IMU simulator capable of generating realistic errors in line with real-world environments to facilitate pre-validation of position estimation accuracy. Initially, for GNSS, positioning solutions were predicted using the number of satellites obtained through a visible satellite simulation based on 3D building data. Subsequently, to account for the performance degradation of the Allan variance in the driving environment, errors were simulated for the IMU, particularly the gyroscopes. Finally, verification of position estimation accuracy was performed using actual vehicle and simulator-acquired sensor data. The similar trends in position estimation results confirmed the potential for pre-validation of position estimation accuracy.