High Precision Vehicle Location Method Based on Multi-sensor Fusion in the Urban Complex Environment

Abstract

In this paper, a high-precision vehicle positioning method is proposed, which can achieve centimeter-level positioning accuracy in a complex environment. Based on the information of multiple sensors (GNSS, Lidar, and IMU), the multi-sensor fusion framework is used to fuse the positioning measurements from different sources with Kalman filter, which achieves high-precision positioning in the case of GNSS disconnection, the accuracy and robustness of the positioning system are significantly improved, and the effectiveness of the method is verified. The average RMS accuracy of 0.07m is realized, which meets the requirements of high-precision positioning for autonomous vehicles.