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High accuracy positioning engine with an integrity layer for safety autonomous vehicles

Abstract:

Autonomous vehicles are becoming a reality. One of the most critical functions of an autonomous vehicle is to be able to obtain an accurate and reliable estimation of the position and attitude of the vehicle. This is even more critical when operating without human supervision as for the SAE Level 4. This paper presents an innovative positioning engine capable of providing highly accurate real-time position and attitude estimates along with an integrity layer consisting of Protection Levels (PL), which bound the error of each estimated value with a certain confidence level. The position and attitude estimated by the engine are based on the measurements provided by an intelligent off-the shelf automotive camera, a mass market dual-frequency GNSS receiver, low-cost inertial sensors, vehicle odometry and lane-level navigation maps. Highly accurate positions are computed by means of a real time PPP hybrid algorithm …