Abstract:Abstract:In most autonomous vehicles the navigation subsystem is based on Inertial Navigation System (INS). Regardless of the INS grade, its navigation solution drifts in time. To avoid such a drift, the INS is fused with external sensor measurements. Recent publications show that the leverarm, the relative position between the INS and aiding sensor, has influence on the navigation performance. Most published research in this field is focused on INS/GNSS fusion with GNSS position updates only where performance… Show more
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