@inproceedings{3a0995edb67c4ee0abe770c5b25916a7,
title = "Enhancing Autonomous Ground Vehicle Positioning and Navigation through Cascaded Multi-Sensor Integration",
abstract = "Precise positioning and navigation are crucial for autonomous vehicles. An attempt to improve the preciseness of position and navigation measurements is made by using multiple sensors. This research proposes a multi-sensor integrated positioning and navigation system using cascaded data fusion for ground vehicles. The system consists of multiple Inertial Measurement Units (IMUs) and a Global Navigation Satellite System (GNSS) receiver. An approach for fusing multiple redundant IMUs using a weighted average is proposed to obtain a virtual IMU. The virtual IMU and GNSS are integrated using a loosely-coupled approach. The system is tested on a ground vehicle with particle models. Two datasets are used: one collected on a straight road and another collected in a suburban area. The results show that the proposed method improves the preciseness of position and navigation measurement.",
keywords = "Autonomous Vehicles, Data Fusion, Multi-Sensor, Navigation, Positioning",
author = "Firmansyah, {Adrian Aryaputra} and Abdullah Alkaff",
note = "Publisher Copyright: {\textcopyright} 2023 IEEE.; 2023 International Conference on Advanced Mechatronics, Intelligent Manufacture and Industrial Automation, ICAMIMIA 2023 ; Conference date: 14-11-2023 Through 15-11-2023",
year = "2023",
doi = "10.1109/ICAMIMIA60881.2023.10427562",
language = "English",
series = "2023 International Conference on Advanced Mechatronics, Intelligent Manufacture and Industrial Automation, ICAMIMIA 2023 - Proceedings",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "436--441",
booktitle = "2023 International Conference on Advanced Mechatronics, Intelligent Manufacture and Industrial Automation, ICAMIMIA 2023 - Proceedings",
address = "United States",
}
