A data fusion system of GNSS data and on-vehicle sensors data for improving car positioning precision in urban environments

作者：

Highlights：

• Data fusion with on-vehicle sensor data improves GNSS positioning precision.

• Best precision improvements are achieved while using the system in urban areas.

• The system can be deployed with a low implementation cost in modern car vehicles.

• The system can be easily adapted to incorporate more on-vehicle sensors.

摘要

•Data fusion with on-vehicle sensor data improves GNSS positioning precision.•Best precision improvements are achieved while using the system in urban areas.•The system can be deployed with a low implementation cost in modern car vehicles.•The system can be easily adapted to incorporate more on-vehicle sensors.

论文关键词：Data fusion,Extended Kalman filter (EKF),Global navigation satellite system (GNSS),On-vehicle sensors,On-board diagnostics (OBD),Ackerman steering geometry

论文评审过程：Received 26 July 2016, Revised 6 March 2017, Accepted 7 March 2017, Available online 8 March 2017, Version of Record 11 April 2017.

论文官网地址：https://doi.org/10.1016/j.eswa.2017.03.018