입체구적 칼만필터 기반 자율주행차량용 복합항법시스템 설계

초록

An autonomous vehicle is a GNS (Guidance Navigation Control) system that creates a route from a current location to a destination and control the vehicle to be located on the route. Therefore, navigation that estimates the position, velocity and attitude information of a vehicle is recognized as a very important technology for autonomous driving. However, in urban areas with tall buildings and in tunnels, GNSS (Global Navigation Satellite System) signals are blocked or weak, so the performance of the navigation system may be poor or navigation information may not be provided at all. To solve this problem, an INS (Inertial Navigation System)/GPS integrated navigation system can be used. In this paper, an INS/GPS/NHC (Non-Holonomic Constraint) integrated navigation system that integrates INS/GPS with non-holonomic constraint of vehicles. And the integrated navigation system is designed with cubature Kalman filter. The performance of the designed system is verified based on simulation.