Multisensor Localization Architecture for High-Accuracy and High-Integrity Land-based Applications

Emerging safety-related applications like autonomous vehicles will require high levels of navigation performance in terms accuracy while still satisfying stringent requirements integrity, availability and continuity. Achieving sub-meter land-based scenarios with GNSS-based solutions can only be achieved carrier-phase based approaches combination additional sensors. So that these considered for future certified systems, the safety aspect must ensured, which is a challenge presence local GNSS threats (like multipath or NLOS) as well multisensor architectures. In this work, we propose architecture uses float Real-Time Kinematic (RTK) integrity information from an augmentation network. The also considers different layers protection against supports rigorous design monitoring algorithms level computation. combined sensors Inertial Measurement Unit (IMU) robust relative location vehicle complemented stereo camera vision processing. This allows possible types localization modes. are validated real measurements collected car during measurement Rome, Italy. results show clearly our achieve ensuring integrity.