| Summary: | Localization technology is mostly achieved through Global Navigation Satellite Systems (GNSS). However, in mountainous areas where leaves and trees block signals from satellites, getting an appropriate location with GNSS positioning sometimes becomes difficult. In this paper, a localization algorithm based on altitude profiles with angular momentum (yaw rate) profile is proposed. It is a kind of landmark-based localization algorithm in which altitude and angular momentum (yaw rate) profiles are treated as landmarks. The proposed localization algorithm attempts to identify the current position by matching altitude and angular momentum (yaw rate) reference data prepared in advance with altitude and angular momentum (yaw rate) data currently acquired. The effectiveness of the algorithm is presented with several experimental results obtained with real data. This paper is an extension to the previous paper presented at the SICE Annual Conference 2020 [Yokota. Localization algorithm based on altitude time series in GNSS-denied environment. In: 2020 Proceedings of the SICE Annual Conference; Chiang Mai, Thailand; 2020 Sep 23–26. p. 952–957], in which vehicle localization was carried out by using only altitude profile matching. This paper used both altitude and angular momentum (yaw rate) for sensor fusion to improve the accuracy of the localization.
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