The industry of land vehicles entered a new era. In which, driving autonomy is the main goal. It caused rising demand more accurate systems. Vehicle's positioning technologies play an important role in such one pillars autonomous perception task. Global Navigation Satellite System (GNSS) has been always used as navigation solution provider. However, GNSS subjected for several sources errors. Signal blockage and multi-path issues take place urban canyons downtowns large cities. Such problems...

The global navigation satellite system (GNSS) is often considered as the solution of choice for navigating in outdoor environments. However, specific care urban environments, information delivered by a GNSS receiver not very precise and may even be unavailable. For this reason, most cases, positioning task realized coupling geo-referencing with sensors such odometers, inertial units, etc. To reduce cost land vehicles, three-dimensional reduced sensor (3D-RISS) algorithm has been developed...

The positioning accuracy of global navigation satellite systems (GNSS) in dense urban canyon environment significantly deteriorates due to multipath and signal blockage. For this reason, inertial system (INS) is often integrated with GNSS ensure a reliable solution during such periods outages. A low-cost for land vehicles has been developed by integrating the measurements from vehicle motion sensors (accelerometers gyroscopes). major drawback usage these its progressive error accumulation,...

Navigation solutions have become a vital part of our lives and precise positioning solution is required everywhere. The global navigation satellite system (GNSS) the most commonly used technology in along with Inertial System (INS). Generally, low-cost GNSS receivers provide reliable meter level accuracy when there direct line sight between receiver's antenna at least four satellites. However, this degraded challenging environments such as urban areas where provided by due to multipath, poor...

The reliability and robustness of an integrated positioning system are crucial in the fields robotics autonomous navigation. Utilizing inertial navigation systems (INS) with Real-Time Kinematic (RTK) Global Navigation Satellite System (GNSS) is not sufficient as performance inevitably degrades urban areas due to extended GNSS outages. For these reasons, multiple variants visual odometry (VO) have been developed hope correct INS position, attitude, bias estimates under challenging...

Modern on-road navigation systems heavily depend on integrating speed measurements with inertial (INS) and global satellite (GNSS). Telemetry-based applications typically source data from the On-Board Diagnostic II (OBD-II) system. However, method of deriving speed, as well types sensors used to measure wheel differs across vehicles. These differences result in varying error characteristics that must be accounted for autonomy applications. This paper addresses this gap by examining diverse...

Positioning and Navigation (PN) is one of the most important topics in world Autonomous Vehicles (AVs). Being equipped with a suite sensors high-performance computers, self-driving cars are designed to perceive its surrounding environment prior planning control. Among observations semantics objects appearing scene. While PN very challenging for extended GNSS outages, vision can also exhibit failures case highly dynamic scenes lack texture between consecutive image frames. To overcome this...

Due to the limitation of Global Navigation Satellite System (GNSS), it cannot work properly without direct line sight GNSS satellites such as in urban and indoor environments. Visual processing Odometry (VO) Structure-From-Motion (SFM) is usually used for navigation or localization. SFM was introduced 1990 had been successfully reconstruction unordered images, process reconstruction, would estimate position camera each image at same time. This paper introduces three most common tools...

Abstract. Navigation is of paramount importance for land vehicles as it enables efficient and accurate movement from one location to another. Whether personal navigation, commercial transportation, or emergency services, reliable navigation systems play a crucial role in ensuring safety, optimizing routes, enhancing overall operational efficiency. This paper presents the integration classical Topological Map Matching (TMM) with Global Satellite System (GNSS) Inertial (INS), addressing...