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Current cooperative positioning with global navigation satellite system (GNSS) for connected vehicle application mainly uses pseudorange measurements. However, the positioning accuracy offered cannot meet the requirements for lane-level positioning, collision avoidance and future automatic driving, which needs real-time positioning accuracy of better than 0.5 m. Furthermore, there is an apparent lack...
This paper present a Residuals Chi-square Test Method (RCTM) and an Autonomous Integrity monitoring by Extrapolation Method (AIME) for the integrity monitoring of integrated GNSS/SINS system. Firstly the tightly coupled integrated architectures and Kalman filer are designed, then a detailed investigation of the capability of the RCTM and AIME algorithms to deal with the step and ramp failure are carried...
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