High precision positioning system for autopilot based on multi-sensor fusion

¹ School of Automation, Wuhan University of Technology, Wuhan City, Hubei Province, China
² School of Automation, Southeast University, Nanjing City, Jiangsu Province, China

^* Corresponding author: lhr-_.289753@whut.edu.cn 213181824@seu.edu.cn

Abstract

For autonomous vehicles, autonomous positioning is a core technology in their development. A good positioning system not only helps them efficiently complete autonomous operations, but also improves safety performance. At present, the use of global positioning system (GPS) is a more mainstream positioning method, but in indoor, serious shelter and other environments, GPS signal loss will lead to positioning failure. In order to solve this problem, this paper proposes a method of mapping before positioning, and designs a set of high precision real-time positioning system by combining the technology of multi-sensor fusion. The designed system was carried on a Wuling sightseeing bus, and the mapping and positioning tests were carried out in the Nanhu Campus of Wuhan University of Technology, the East Campus of Mafangshan Campus and the underground garage where GPS signals were lost. The test results show that the system can realize the high precision real-time positioning function of the autonomous vehicle. Therefore, the in-depth study and implementation of this system is of great significance to the promotion and application of the automatic driving industry.