GPS-IMU Sensor Fusion for Reliable Autonomous Vehicle Position Estimation

원문 초록

Global Positioning System (GPS) navigation provides accurate positioning with global coverage, making it a reliable option in open areas with unobstructed sky views. However, signal degradation may occur in indoor spaces and urban canyons. In contrast, Inertial Measurement Units (IMUs) consist of gyroscopes and accelerometers that offer relative motion information such as acceleration and rotational changes. Unlike GPS, IMUs do not rely on external signals, making them useful in GPS-denied environments. Nonetheless, IMUs suffer from drift over time due to the accumulation of errors while integrating acceleration to determine velocity and position. Therefore, fusing the GPS and IMU is crucial for enhancing the reliability and precision of navigation systems in autonomous vehicles, especially in environments where GPS signals are compromised. To ensure smooth navigation and overcome the limitations of each sensor, the proposed method fuses GPS and IMU data. This sensor fusion uses the Unscented Kalman Filter (UKF) Bayesian filtering technique. The proposed navigation system is designed to be robust, delivering continuous and accurate positioning critical for the safe operation of autonomous vehicles, particularly in GPS-denied environments. This project uses KITTI GNSS and IMU datasets for experimental validation, showing that the GNSS-IMU fusion technique reduces GNSS-only data's RMSE. The RMSE decreased from 13.214, 13.284, and 13.363 to 4.271, 5.275, and 0.224 for the x-axis, y-axis, and z-axis, respectively. The experimental result using UKF shows promising direction in improving autonomous vehicle navigation using GPS and IMU sensor fusion using the best of two sensors in GPS-denied environments.