자율주행 시뮬레이터의 항법 센서 모델링 구현 및 검증

초록

In this paper, the feasibility of various sensor measurements provided by a self-made driving simulator using GTA V is tested. In particular, the verification of GPS and IMU sensor measurements for autonomous vehicle navigation is performed. For this, the truth data provided by the simulator to be used in the modeling and simulation of various sensor measurements is defined. And, characteristics of the GPS and IMU measurements generated by the driving simulator are described. A previously developed Matlab-based simulation software for GPS and IMU measurement generation is used as a reference. The sensor measurements obtained from two different simulators are compared in order to test the feasibility of the self-made driving simulator. Finally, the navigation solution is generated using the GPS/INS integrated navigation system using the extracted values and compared with the actual truth data on the map.