In this contribution, multi-GNSS-tightly coupled (TC) RTK/INS technology is developed to solve the positioning problem for a challenging urban outdoor environment. However, integrated multi-GNSS and INS applications cannot provide effective and seamless positioning results for AVs in indoor and outdoor environments due to limited satellite availability, multipath effects, frequent signal blockages, and the lack of GNSS signals indoors. To obtain effective positioning information, multiconstellation global navigation satellite system (multi-GNSS) real-time kinematics (RTK) and an inertial navigation system (INS) have been widely integrated into AVs. In particular, the seamless high-precision positioning of AVs indoors and outdoors still poses considerable challenges and requires continuous, reliable, and high-precision positioning information to guarantee the safety of driving. Seamless positioning systems for complex environments have been a popular focus of research on positioning safety for autonomous vehicles (AVs).
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