Study on the Inertial Navigation System for Autonomous Driving
Bufan Liu, Shanglu He, Zongyi Xing, Ning Kang · CICTP 2020 · 2020
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.