A high integrity IMM-CKF method for multi-sensor based vehicle autonomous navigation
Jiang Liu, Baigen Cai, Yunpeng Wang, Jian Wang, Wei Shangguan · 2011
Vehicle autonomous navigation is one of the big challenges for cooperative vehicle infrastructure systems. Besides concerning the position accuracy level, the system integrity is chosen as another key index to represent the performance of the vehicle navigation system. This paper presents a novel solution for multi-sensor based vehicle autonomous navigation, in which the interacting multiple model and cubature Kalman filter are employed to fuse the measurement from GNSS receiver and inertial sensors, and the integrity is improved with accuracy by refining the model probability calculation based on the horizontal trust level. Simulation and analysis demonstrate that the present solution reaches a balance to numerical accuracy and integrity, which provides more trust for application.