Low-Cost Real-Time PPP GNSS Aided INS for CAV Applications

Registro completo de metadados
MetadadosDescriçãoIdioma
Autor(es): dc.creatorRahman, Farzana-
Autor(es): dc.creatorSilva, Felipe Oliveira e-
Autor(es): dc.creatorJiang, Zeyi-
Autor(es): dc.creatorFarrell, Jay A.-
Data de aceite: dc.date.accessioned2026-02-09T12:22:37Z-
Data de disponibilização: dc.date.available2026-02-09T12:22:37Z-
Data de envio: dc.date.issued2023-12-04-
Data de envio: dc.date.issued2023-12-04-
Data de envio: dc.date.issued2022-09-
Fonte completa do material: dc.identifierhttps://repositorio.ufla.br/handle/1/58646-
Fonte completa do material: dc.identifierhttps://ieeexplore.ieee.org/document/9906805-
Fonte: dc.identifier.urihttp://educapes.capes.gov.br/handle/capes/1160047-
Descrição: dc.descriptionMany connected and autonomous vehicle (CAV) applications benefit from navigation technologies that reliably achieve lane-level accuracy. Global organizations have recently begun to provide real-time common-mode error corrections for Global Navigation Satellite Systems (GNSS) that enable this level of positioning accuracy using Precise Point Positioning (PPP). Incorporating an Inertial Measurement Unit (IMU) with a GNSS receiver can achieve this positioning performance reliably on moving platforms while providing a full state estimate, with high bandwidth at a high sampling rate. For commercial automotive applications cost is critical; therefore, this article focuses on commercial grade IMU’s and single-frequency GNSS code and Doppler measurements. This article presents and demonstrates a tightly-coupled PPP GNSS aided Inertial Navigation System (INS) using only publicly available real-time data sources. The article discusses the role of the INS in automotive applications and how the quality of the IMU affects the ability to achieve that role. The experimental results demonstrate positioning accuracy that surpasses the Society of Automotive Engineering (SAE) J2945 specification (horizontal error ≤1.5 m and vertical error ≤ 3 m 68%).-
Idioma: dc.languageen-
Publicador: dc.publisherInstitute of Electrical and Electronics Engineers (IEEE)-
Direitos: dc.rightsrestrictAccess-
???dc.source???: dc.sourceIEEE Transactions on Intelligent Transportation Systems-
Palavras-chave: dc.subjectConnected and autonomous vehicles-
Palavras-chave: dc.subjectGlobal navigation satellite systems-
Palavras-chave: dc.subjectPrecise point positioning-
Palavras-chave: dc.subjectInertial navigation-
Palavras-chave: dc.subjectState estimation-
Palavras-chave: dc.subjectVeículos conectados e autônomos-
Palavras-chave: dc.subjectSistema Global de Navegação por Satélite-
Palavras-chave: dc.subjectPosicionamento por Ponto Preciso-
Palavras-chave: dc.subjectSistema de Navegação Inercial-
Título: dc.titleLow-Cost Real-Time PPP GNSS Aided INS for CAV Applications-
Tipo de arquivo: dc.typeArtigo-
Aparece nas coleções:Repositório Institucional da Universidade Federal de Lavras (RIUFLA)

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