Improving Vehicle Heading Angle Accuracy Based on Dual-Antenna GNSS/INS/Barometer Integration Using Adaptive Kalman Filter

Improving Vehicle Heading Angle Accuracy Based on Dual-Antenna GNSS/INS/Barometer Integration Using Adaptive Kalman Filter

High-accuracy heading angle is significant for estimating autonomous vehicle attitude. By integrating GNSS (Global Navigation Satellite System) dual antennas, INS (Inertial Navigation System), and a barometer, a GNSS/INS/Barometer fusion method is proposed to improve vehicle heading angle accuracy....

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Bibliographic Details
Main Authors: Hongyuan Jiao, Xiangbo Xu, Shao Chen, Ningyan Guo, Zhibin Yu
Format: Article
Language:English
Published: MDPI AG 2024-02-01
Series:Sensors
Subjects:
vehicle heading
dual-antenna GNSS/INS/barometer integration
adaptive Kalman filter
kinematic constraint
random sample consensus
Online Access:https://www.mdpi.com/1424-8220/24/3/1034

Internet

https://www.mdpi.com/1424-8220/24/3/1034

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