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Data Fusion for Precise Localization

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Handbook of Driver Assistance Systems

Abstract

In current vehicles, redundant sensors with heterogeneous measurement principles are applied in increasing numbers. Taking the advantage of these already existing redundancies, the concept of a central virtual sensor for the estimation of kinematic vehicle properties is created, based on a set of close-to-series sensors, consisting of a MEMS inertial measurement unit, a GPS receiver, and odometry sensors. Furthermore, a real-time capable implementation of this architecture is realized, using a linearized Error-State-Space Kalman filter. This fusion filter is enhanced by a correction algorithm for measurement latencies of multiple sensors and a two-step plausibilization of raw measurement data. In addition, an integrated assessment of the data quality is implemented. It describes data consistency using an integrity measure and data accuracy with a virtual datasheet.

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Author information

Authors and Affiliations

  1. Fachgebiet Fahrzeugtechnik, Technische Universität Darmstadt, Petersenstr. 30, 64287, Darmstadt, Germany

    Nico Steinhardt

  2. Institut für Geodäsie, Fachgebiet Physikalische Geodäsie und Satellitengeodäsie, Technische Universität Darmstadt, Franziska-Braun-Str. 7, 64287, Darmstadt, Germany

    Stefan Leinen

Authors
  1. Nico Steinhardt
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  2. Stefan Leinen
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Corresponding author

Correspondence to Nico Steinhardt .

Editor information

Editors and Affiliations

  1. Institute of Automotive Engineering, Technische Universität Darmstadt, Darmstadt, Germany

    Hermann Winner

  2. Continental Engineering Services GmbH, Frankfurt am Main, Germany

    Stephan Hakuli

  3. Continental AG, Frankfurt am Main, Germany

    Felix Lotz

  4. Institute of Automotive Engineering, Technische Universität Darmstadt, Darmstadt, Germany

    Christina Singer

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Steinhardt, N., Leinen, S. (2016). Data Fusion for Precise Localization. In: Winner, H., Hakuli, S., Lotz, F., Singer, C. (eds) Handbook of Driver Assistance Systems. Springer, Cham. https://doi.org/10.1007/978-3-319-12352-3_26

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