Multi-sensor Integration for Land Vehicular Navigation
Abdelsatar Elmezayen
Abstract:<p>In this dissertation, a multi-sensor integrated system is developed to provide an accurate positioning solution under open-sky, challenging environments such as downtown areas and GNSS-denied environments such as indoor parking lots. A PPP system is first developed by utilizing a geodetic-grade GNSS receiver. An Improved Robust adaptive Kalman Filter (IRKF) is adopted and used as the estimation filter to compensate for the GNSS measurement outliers and the dynamic error modeling. Centimeter-level hori… Show more
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