International Global Navigation Satellite Systems Association
IGNSS Symposium 2018
Colombo Theatres, Kensington Campus, UNSW Australia
7 – 9 February 2018
Fusion of RTK GNSS receiver and IMU for accurate
vehicle tracking
Shenghong Li (1)
CSIRO, Australia
(+61) 2 9372 4629 shenghong.li@csiro.au
Mark Hedley (2)
CSIRO, Australia
(+61) 2 9372 4136 mark.hedley@csiro.au
Alija, Kajan (3)
CSIRO, Australia
(+61) 2 9372 4141 alija.kajan@csiro.au
Wei Ni (4)
(+61) 2 9372 4646 wei.ni@csiro.au
Iain Collings (5)
(+61) 2 9850 9068 iain.collings@mq.edu.au
ABSTRACT
The positioning accuracy of global navigation satellite systems (GNSS)
is compromised if the receiver is not in an open-sky environment.
Sensor fusion is a promising technique to remedy this problem,
improving the accuracy and integrity of the GNSS systems. This paper
studies the fusion of Real Time Kinematic (RTK) GNSS receiver and
inertial measurement unit (IMU) for accurate vehicle tracking, with a
specific focus on the case where the GNSS measurements and IMU
measurements are unsynchronized. A post processing algorithm based
on Bayesian smoothing is proposed to improve the tracking accuracy,
and an offline synchronization algorithm is proposed to correct the time
offset between IMU and GNSS measurements. The performance of the
proposed algorithms is validated experimentally on a vehicle. It is
shown that the tracking accuracy is improved significantly over
conventional algorithms.
KEYWORDS: RTK, IMU, Sensor Fusion, vehicle tracking, Post Processing
1. INTRODUCTION
Intelligent transportation system (ITS) improve the efficiency and safety of the transport
networks significantly, and GNSS plays an important role in providing positioning information
