GPS 수신 정밀도를 고려한 차량 위치 추정 시스템 개발

Abstract

Localization is one of the core technology of the autonomous vehicle to improve the performance of autonomous vehicle control. This paper illustrates a vehicle position estimation system considering dilution of precision. The main purpose of this paper is to improve the performance of the pose estimation using GPS received data accuracy called Horizontal Dilution of Precision(HDOP). In this study, we propose a vehicle position estimation algorithm that updates the position states adaptively according to the GPS accuracy, which can be measured as HDOP. This estimation system is validated by vehicle experiment data obtained by the low-priced GPS.