{"title":"Intersection of Error Ellipsoids from at Least Two Positioning Sensors for Improved Sensor Fusion","authors":"P. Henkel, Medeea Horvat, Luka Sachße","doi":"10.33012/2023.18641","DOIUrl":null,"url":null,"abstract":"Autonomous driving requires a precise and reliable positioning. A sensor fusion of multiple complementary sensors (e.g. Global Navigation Satellite System (GNSS) receivers, inertial sensors, odometry, camera, Lidar, Ultra-Wide Band) is typically performed to achieve the objectives of both high precision and high reliability. A sensor fusion relies on an accurate knowledge of the measurement statistics. For static GNSS receivers, this assumption is typically well justified as multipath errors are only slowly changing with time. Henkel and Sperl (2016) and Henkel et al. (2016) showed that pseudorange multipath errors can be estimated as additional","PeriodicalId":261056,"journal":{"name":"Proceedings of the 2023 International Technical Meeting of The Institute of Navigation","volume":"27 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2023-02-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings of the 2023 International Technical Meeting of The Institute of Navigation","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.33012/2023.18641","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 0
Abstract
Autonomous driving requires a precise and reliable positioning. A sensor fusion of multiple complementary sensors (e.g. Global Navigation Satellite System (GNSS) receivers, inertial sensors, odometry, camera, Lidar, Ultra-Wide Band) is typically performed to achieve the objectives of both high precision and high reliability. A sensor fusion relies on an accurate knowledge of the measurement statistics. For static GNSS receivers, this assumption is typically well justified as multipath errors are only slowly changing with time. Henkel and Sperl (2016) and Henkel et al. (2016) showed that pseudorange multipath errors can be estimated as additional
自动驾驶需要精确可靠的定位。通常执行多个互补传感器(例如全球导航卫星系统(GNSS)接收器、惯性传感器、里程计、相机、激光雷达、超宽带)的传感器融合，以实现高精度和高可靠性的目标。传感器融合依赖于测量统计数据的准确知识。对于静态GNSS接收机，这种假设通常是合理的，因为多径误差仅随时间缓慢变化。Henkel and Sperl(2016)和Henkel et al.(2016)表明，伪橙多径误差可以作为附加估计
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