Intersection of Error Ellipsoids from at Least Two Positioning Sensors for Improved Sensor Fusion

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