Reference : Uncertainty Aware Sensor Fusion for a GNSS-based Collision Avoidance System
Scientific congresses and symposiums : Paper published in a book
Engineering, computing & technology : Mechanical engineering
http://hdl.handle.net/2268/109296
Uncertainty Aware Sensor Fusion for a GNSS-based Collision Avoidance System
English
Katriniok, A. [> >]
Maschuw, J. [> >]
Abel, D. [> >]
Christen, Fréderic mailto [Université de Liège - ULg > > > Form. doct. sc. ingé. (aérosp. & méca - Bologne)]
19-Sep-2011
Proceedings of the 24th International Technical Meeting of The Satellite Division of the Institute of Navigation (ION GNSS 2011)
Institute of Navigation
968-978
No
Yes
International
24th International Technical Meeting of The Satellite Division of the Institute of Navigation (ION GNSS 2011)
from 20-09-2010 ti 23-09-2010
Institute of Navigation
Oregon Convention Center, Portland, Oregon
USA
[en] GNSS ; Sensor Fusion ; Collision Avoidance
[en] The performance that can be achieved by safety critical systems which are based on
information on their absolute position inherently depends on the accuracy and the
update rate that is provided by the navigation system. A Collision Avoidance System
(CAS) that is intended to prevent collisions between vehicles by an autonomous braking
resp. evasion maneuver is such a safety critical system and will be subject of
consideration in this paper. In this context, the employed sensor fusion algorithm that
provides a navigation solution with high update rate based on an inertial navigation
system (INS) as well as on a Global Navigation Satellite System (GNSS) will be
presented. Furthermore, a method to assess the actual accuracy provided by GNSS resp.
sensor fusion will be introduced. Subsequently, the paper shows how this information
can be incorporated into sensor fusion. Obviously, the feasibility of CAS inherently
depends on the accuracy that can be obtained from GNSS. Therefore, CAS will be
developed and tested in a terrestrial Galileo test and development environment (GATE)
near Aachen (Germany) where a positional accuracy of about 0.8 meters can be
achieved. Finally, first simulation results based on measurement data will be presented
to evaluate the sensor fusion algorithm as well as the method to assess the actual
navigation accuracy.
ika and IRT of RWTH Aachen University
Space Agency of the German Aerospace Centre (DLR) and German Federal Ministry of Economics and Technology
Galileo above
Researchers ; Professionals
http://hdl.handle.net/2268/109296
http://www.galileoabove.de/index.php?id=11&L=1&cHash=c9e187a97c

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