A Multiple-Model Particle Filter Fusion Algorithm for GNSS/DR Slide Error Detection and Compensation

Continuous accurate positioning is a key element for the deployment of many advanced driver assistance systems (ADAS) and autonomous vehicle navigation. To achieve the necessary performance, global navigation satellite systems (GNSS) must be combined with other technologies. A common onboard sensor-set that allows keeping the cost low, features the GNSS unit, odometry, and inertial sensors, such as a gyro. Odometry and inertial sensors compensate for GNSS flaws in many situations and, in normal conditions, their errors can be easily characterized, thus making the whole solution not only more accurate but also with more integrity. However, odometers do not behave properly when friction conditions make the tires slide. If not properly considered, the positioning perception will not be sound. This article introduces a hybridization approach that takes into consideration the sliding situations by means of a multiple model particle filter (MMPF). Tests with real datasets show the goodness of the proposal