상용 MEMS IMU와 차량 CAN 데이터를 이용한 지상차량 항법용 GPS/INS/DR 통합항법시스템 구현 및 실측결과

초록

In this paper, we integrate two commercialized low-cost GPS/INS and DR systems into a GPS/INS/DR system in order to realize a high-performance navigation system for autonomous vehicles. Measurements from a built-in type DR sensor through CAN communication of a commercial ground vehicle are used. In addition, Measurements from GPS, IMU and DR through CAN data are efficiently used in the GPS/INS/DR integrated navigation system. Numerical simulation and experimental test results are included in the paper to evaluate the performance of the proposed integrated navigation system in comparison to the positioning output of an RTK system.

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