Accurate Positioning Technique Based on Long 3D Trajectory Using Low-cost Multi-GNSS Receiver and MEMS IMU

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Other Title
  • 汎用慣性センサとマルチGNSSの統合による都市部測位の高精度化
  • ―Dopplerを基幹としたロバストな三次元運動と長距離軌跡の活用―

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<p>In this sturdy, by utilizing GNSS Doppler and low cost sensor, we estimate 3D vehicle motion robustly and estimate highly accurate vehicle trajectory even in urban environment where satellite signal deteriorates. In addition, we propose a method that can improve the position accuracy by selecting the positioning result of GNSS using highly accurate vehicle locus. The proposed method intentionally does not estimate fluctuation of the clock error of the receiver, thereby making it possible to use the long distance (several 100 meters) trajectory and has the feature that position estimation accuracy is improved by the averaging effect.</p>

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