非線形変換フィルターを用いたgnss/imu の融合による リアルタイムかつ高精度な位置推定システムの実現
Year: 2025
Type: article
Abstract: Global Navigation Satellite Systems (GNSS) are widely used in transportation and autonomous driving, but face challenges like reduced accuracy in urban areas and ionospheric effects. This study integrates GNSS and Inertial Measurement Unit (IMU) data using an Unscented Kalman Filter (UKF) for real-time positioning, implemented on a Raspberry Pi. Experiments on mountain roads showed that the UKF achieved accuracy similar to GNSS in straight sections but degraded in curves due to insufficient orientation updates. The system used GNSS at 1 Hz and IMU at 300 Hz, processed via Python. Improvements in orientation updates and computational efficiency remain key challenges.
Language: Japanese
Subfield: Aerospace Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: green
OpenAlex ID: W7208094790