VSI Pro Report: Localization with Inertial-GNSS Navigation and RTK Correction

Pro Report 7 Cover - Square.jpg
Pro Report 7 Cover - Square.jpg

VSI Pro Report: Localization with Inertial-GNSS Navigation and RTK Correction

5,000.00

Localization is fundamental for autonomous vehicles (AVs) and there are different systems and techniques to perform real-time precision localization. This report examines one of the common localization approaches used for AVs by utilizing an inertial navigation system (INS) and real time kinematics (RTK) correction services. The report discusses the procedures of setting up the INS device into VSI’s research vehicle and connecting with RTK correction services. It also compares the test results of the localization methods with and without RTK correction services highlighting how RTK corrections can enhance the accuracy of localization data. 

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Table of Contents

  • Introduction

    • Fusion of GNSS and IMU for Localization

    • Real Time Kinematics Positioning

    • System Prerequisites

  • Procedure

    • Installing Hardware Components

    • Data Processing

    • Connecting with Network Service through MnCORS

  • Observations & Results

    • Test #1: Area with Open Sky

    • Test #2: Area with Blockage of Satellite Signals by Tall Objects

    • Test #3: Tunnel Without GNSS Signals

    • Accuracy of Localization Data with RTK Corrections

    • Challenges and Other Observations

  • Alternative Solutions

  • Conclusion