Chapter
Aug 12, 2020
Study on the Inertial Navigation System for Autonomous Driving
Authors: Bufan Liu [email protected], Shanglu He, Ph.D. [email protected], Zongyi Xing, Ph.D. [email protected], and Ning Kang [email protected]Author Affiliations
Publication: CICTP 2020
ABSTRACT
Inertial navigation system has been proposed as an alternative for autonomous driving because GPS signals can be blocked under conditions such as driving through a tunnel. This paper proposes a system for autonomous driving which is based on inertial navigation technology. The core method of inertial navigation including the automatic driving state update (velocity, displacement) is introduced in detail. This paper sets up a simulation platform to test the proposed system using the tools of the Raspberry Pi and MATLAB. The results show that the proposed system could provide accurate navigation information for autonomous vehicles in a short time window. However, the error of the velocity and displacement values calculated by the integral is larger than the error of the attitude angle. It indicates that t inertial navigation information must be filtered and corrected by more accurate positioning systems if it is applied in a long time window.
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© 2020 American Society of Civil Engineers.
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Published online: Aug 12, 2020
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1Faculty of Automation, Nanjing Univ. of Science and Technology, P.O. Box 210094, Nanjing, China. Email: [email protected]
2Faculty of Automation, Nanjing Univ. of Science and Technology, P.O. Box 210094, Nanjing, China. Email: [email protected]
3Faculty of Automation, Nanjing Univ. of Science and Technology, P.O. Box 210094, Nanjing, China. Email: [email protected]
4Faculty of Engineering, Univ. of Nottingham, P.O. Box NG7 2RD, Nottingham, UK. Email: [email protected]
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Terms of Use: ASCE Library Cards are for individual, personal use only. Reselling, republishing, or forwarding the materials to libraries or reading rooms is prohibited.
Terms of Use: ASCE Library Cards are for individual, personal use only. Reselling, republishing, or forwarding the materials to libraries or reading rooms is prohibited.