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Open AccessArticle

Augmentation of GNSS by Low-Cost MEMS IMU, OBD-II, and Digital Altimeter for Improved Positioning in Urban Area

School of Electronics and Information Engineering, Korea Aerospace University, Goyang-si 10540, Korea
Author to whom correspondence should be addressed.
The first author is now with Advanced Development Team V, Mando Corporation.
Sensors 2018, 18(11), 3830;
Received: 2 October 2018 / Revised: 2 November 2018 / Accepted: 6 November 2018 / Published: 8 November 2018
(This article belongs to the Special Issue Sensor Fusion and Novel Technologies in Positioning and Navigation)
This paper proposes an efficient multi-sensor system to complement GNSS (Global Navigation Satellite System) for improved positioning in urban area. The proposed system augments GNSS by low-cost MEMS IMU (Micro Electro Mechanical Systems Inertial Measurement Unit), OBD (On-Board Diagnostics)-II, and digital altimeter modules. For improved availability of time synchronization in urban area, an adaptive synchronization method is proposed to combine the external PPS (Pulse Per Second) signal and the internal onboard clock. For improved positioning accuracy and availability, a 17-state Kalman filter is formulated for efficient multi-sensor fusion, including OBD-II and digital altimeter modules. A strategy to apply different types of measurement updates is also proposed for improved performance in urban area. Four experiment results with field-collected measurements evaluates the performance of the proposed GNSS/IMU/OBD-II/altimeter system in various aspects, including accuracy, precision, continuity, and availability. View Full-Text
Keywords: multi-sensor fusion; positioning; time synchronization; urban area multi-sensor fusion; positioning; time synchronization; urban area
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Lim, J.; Yoo, W.J.; Kim, L.W.; Lee, Y.D.; Lee, H.K. Augmentation of GNSS by Low-Cost MEMS IMU, OBD-II, and Digital Altimeter for Improved Positioning in Urban Area. Sensors 2018, 18, 3830.

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