GNSS/Onboard Inertial Sensor Integration with the Aid of 3-D Building Map for Lane-Level Vehicle Self-Localization in Urban Canyon

Yanlei Gu, Li Ta Hsu, Shunsuke Kamijo

Research output: Journal article publicationJournal articleAcademic researchpeer-review

103 Citations (Scopus)


Lane-level vehicle self-localization is a challenging and significant issue arising in autonomous driving and driver-assistance systems. The Global Navigation Satellite System (GNSS) and onboard inertial sensor integration are among the solutions for vehicle self-localization. However, as the main source in the integration, GNSS positioning performance is severely degraded in urban canyons because of the effects of multipath and non-line-of-sight (NLOS) propagations. These GNSS positioning errors also decrease the performance of the integration. To reduce the negative effects caused by GNSS positioning error, this paper proposes to employ an innovative GNSS positioning technique with the aid of a 3-D building map in the integration. The GNSS positioning result is used as an observation, and this is integrated with the information from the onboard inertial sensor and vehicle speedometer in a Kalman filter framework. To achieve stable performance, this paper proposes to evaluate and consider the accuracy of the employed GNSS positioning method in dynamic integration. A series of experiments in different scenarios is conducted in an urban canyon, which can demonstrate the effectiveness of the proposed method using various evaluation and comparison processes.

Original languageEnglish
Article number7314948
Pages (from-to)4274-4287
Number of pages14
JournalIEEE Transactions on Vehicular Technology
Issue number6
Publication statusPublished - 1 Jun 2016
Externally publishedYes


  • Global Navigation Satellite System (GNSS) positioning accuracy
  • Kalman filter
  • sensor integration
  • vehicle self-localization

ASJC Scopus subject areas

  • Automotive Engineering
  • Aerospace Engineering
  • Applied Mathematics
  • Electrical and Electronic Engineering


Dive into the research topics of 'GNSS/Onboard Inertial Sensor Integration with the Aid of 3-D Building Map for Lane-Level Vehicle Self-Localization in Urban Canyon'. Together they form a unique fingerprint.

Cite this