Geneq Inc. has released the SXblue SMART to meet the requirements of professionals looking for an accurate, flexible smart antenna for field work.
The SXblue SMART features a GNSS engine capable of quickly tracking all-in-view GNSS signals. Its design includes interference mitigation technology and optimization for handling a wide frequency band.
Weighing 850 g including battery, the SXblue SMART is compact, supplying the accuracy, ruggedness and maneuverability needed by surveying professionals. Its radio link is based on the Farlink protocol that allows a range of up to 8 km, a performance achievable while reserving a wide bandwidth for transmission of real-time kinematic (RTK) data.
In addition to a tilt sensor for measurements in hard-to-reach places, the SXblue SMART features a high-performance attitude measurement module that can detect and measure movement of the device. An integrated inertial measurement unit provides even more accurate and stable measurements and increased productivity. The SXblue SMART also has a built-in thermometer for monitoring and controlling its internal temperature.
Compared to the company’s previous products, the SXblue SMART has improved communication features, including near-field communication that facilitates close communication with a controller or mobile phone equipped with this technology.
Hi-Target has launched a real-time-kinematic (RTK) GNSS receiver that has an eye for visual positioning.
The pocket-sized vRTK GNSS RTK System is equipped with professional dual cameras to enable non-contact image surveying. It also has an advanced inertial measurement unit (IMU).
vRTK is suitable for non-contact measurements in a variety of hazardous and complex environments. High-quality sensors ensure the stability of the receiver’s accuracy in working status. By combining imagery with high-precision positioning equipment, users benefit from the convenience of visual positioning technology, which allows them to obtain the location of the target with a touch of a finger from a distance.
The lightweight, innovative visual RTK receiver improves the speed of stakeout with its Live View Stakeout function. Non-contact measurement greatly improves the usable range of GNSS and efficient, safe operation, the company said, greatly improving the efficiency of surveyors and engineers.
vRTK Features
The vRTK receives 1,408 channels, including GPS, GLONASS, BeiDou, Galileo, QZSS, IRNSS and SBAS. A new generation of GNSS engine supports the new frequency points B1C, B2a and B2b RTK decoding of the Beidou-3 satellite. The introduction of multi-frequency anti-jamming technology and multi-step adaptive filtering technology features strong signal, high-quality data, fast fix and high accuracy.
The vRTK has a nine-axis IMU module with auto installation for tilt surveying. Users can easily pick it up and arrive at the target point to carry out the tilt survey with an error of less than 2.5 cm within a 60° inclination.
It is compatible with popular modeling software programs and can be used to collect point cloud and 3D modeling data in one step.
A case study describing development and use of the vRTK is available.
Inertial Labs has announced new versions of its Kernel inertial measurement units (IMUs).
The Kernel 110, 120, 210 and 220 are a set of compact, self-contained, strapdown industrial-grade (100 series) and tactical-grade (200 series) IMUs that measure linear acceleration and angular rates with three-axis micro-electromechanical (MEMS) accelerometers and three-axis MEMS gyroscopes.
Fully calibrated, temperature compensated, mathematically aligned to an orthogonal coordinate system, the Kernel 210 and 220 contain 1 deg/hr bias in-run stability gyroscopes and 0.005 mg bias in-run stability accelerometers.
The new Kernel 110 and 120 IMUs will be superseding the existing Kernel 100 IMU. The Kernel 210 and 220 are miniaturized versions of the company’s IMU-P (Professional) tactical unit.
The Kernel series of inertial measurement units are a fully integrated inertial solution that combines the newest MEMS sensors technology. This seamless integration allows Inertial Labs to provide an inertial system with high performance while maintaining a high-value price point. With its compact design and low power consumption, the Kernel IMUs easily integrate in a wide range of higher order systems while consuming very little space and power.
With continuous Built-in Test (BIT), configurable communications protocols, electromagnetic interference (EMI) protection, and flexible input power requirements, the Kernel 110, 120, 210 and 220 are built to be used in a wide variety of environments and integrated system applications. Units have been thoroughly tested to perform in large variations in temperature, high vibration, and shock.
Designed to be used in air, marine and land environments, the Kernel series can be integrated into motion reference units (MRU), attitude and heading reference systems (AHRS) and GPS-aided inertial navigation systems (INS). As a result, Kernel IMUs are suitable for a wide variety of applications such as autonomous vehicles, antenna and line-of-sight stabilizations systems, as well as buoy or boat motion monitoring.
“The new Kernel IMUs represent the innovative approach at Inertial Labs,” said Jamie Marraccini, president and CEO of Inertial Labs. “The high performance and the flexibility to integrate into different systems and applications is what we have striven to provide to our clients with the new Kernel IMU release.”
Initial value of the contracts is expected to be more than $12 million
Emcore Corporation has been awarded new contracts for the Booster Rate Gyro (BoRG) and Tri-Axial Inertial Measurement Unit (TAIMU) programs for space launch vehicles resulting from its acquisition of the L3Harris Space and Navigation business.
The BoRG program award is a contract valued at more than $12 million for the production of IMUs used for flight stabilization of the booster stage of a multistage launch system. The TAIMU program award is a development contract for the design and qualification of IMUs deployed for navigation and flight control of the upper stage of a multistage launch system.
Pending successful demonstration of required capability and quality, Emcore expects to be awarded follow-on production contracts for TAIMU within the next 12 months.
“We are honored to supply our highest grade inertial navigation equipment for these critical space launch vehicle programs,” said Albert Lu, senior vice president and general manager, Aerospace and Defense for Emcore. ”We look to further our close partnership with L3Harris through successful on-time deliveries for both the BoRG and TAIMU programs,” Lu added.
The acquisition expands Emcore’s inertial navigation product portfolio with the addition of navigation-and strategic-grade gyro and inertial measurement unit products.
Emcore acquired all outstanding assets and liabilities of the L3Harris Space and Navigation business, including all L3Harris intellectual property rights primarily used in the Space and Navigation business, a 110,000-square-foot leased production facility in Budd Lake, New Jersey, and associated production equipment.
SBG Systems has announced a new inertial navigation system (INS) named Quanta Micro, completing its Quanta product line.
The Quanta Micro GNSS-aided INS offers a unique combination of navigation performance and low size, weight, power and cost (SWAP-C).
Quanta Micro leverages a survey-grade inertial measurement unit (IMU) for optimal heading performance in single antenna applications, and high immunity to vibrating environments. An optional secondary antenna enables fast heading initialization in low dynamic applications.
Main Features
Accuracy: 0.015° roll/pitch, 0.035° heading, 1 cm position (PPK)
Integrates a survey-grade IMU: 0.8°/h gyro bias instability
Versatile INS/GNSS to suit land, air or marine applications
Highly tested and calibrated from -40°C to 85°C
Robust to vibrating environments
Quad-constellation multi-band RTK GNSS receiver
Smooth post-processing workflow with Qinertia software
Major size reduction with no compromise on performance.
New hardware and software platform provides accuracy, position for land-vehicle system integrators
Photo: Applanix
Applanix, a Trimble Company, has announced the Trimble AP+ Land GNSS-inertial OEM platform for accurate and robust position and orientation for georeferencing sensors and positioning vehicles in land mobile-mapping applications.
The platform enables users to accurately and efficiently track and monitor fleets and produce high-definition (HD) maps and 3D models. It can also serve as a reference solution for advanced driver-assistance systems (ADAS) testing, even in challenging GNSS environments.
The comprehensive Trimble AP+ Land is small enough to integrate into compact mobile-mapping systems. It is compatible with virtually any type of mapping sensor, including single- or multi-lidar systems, video cameras, photogrammetric and panoramic cameras, and similar sensors.
Configurable to meet the mapping, positioning and direct georeferencing (DG) accuracy demands of mapping and positioning applications in challenging GNSS signal environments, the Trimble AP+ Land solution features:
Dual embedded survey-grade GNSS chipsets that can receive multi-frequency and multi-constellation signals
Dual custom-designed inertial measurement units (IMU)
Distance measurement indicator (DMI)
Compact size
Low power consumption
Optional RTK and Trimble CenterPoint RTX real-time correction service support
Full integration and post sales support through the Applanix Global support network
“We have taken the most advanced features of Applanix inertial and Trimble GNSS technology, and packaged them into a powerful compact and versatile solution optimized for mobile mapping and positioning applications,” said Joe Hutton, Applanix’s director of inertial technology, air and land products. “We remain committed to our customers’ success by developing flexible and scalable positioning solutions such as the AP+ Land and more.”
The Trimble AP+ Land OEM solution is supported by the Applanix POSPac MMS post-processing software, which features Trimble CenterPoint RTX post-processing for centimeter-level positioning globally without the need for base stations. These capabilities make it a suitable for integrators to produce a highly efficient land mobile-mapping system.
For lidar integrators, the Trimble AP+ Land OEM is compatible with the POSPac MMS LiDAR QC tools. SLAM technology computes the IMU to lidar boresight misalignment angles and also adjusts the trajectory to achieve the highest level of georeferencing accuracy in the generated point cloud.
SBG Systems is introducing the Pulse-40 inertial measurement unit (IMU), a tactical-grade IMU designed for high performance in harsh conditions, but miniaturized for applications where precision and robustness matter in all conditions.
Use cases include warfare systems, satellite communications, robotics, lidar devices, gimbals, cameras and inertial navigation systems (INS).
The Pulse-40 IMU provides six-degrees-of-freedom. It integrates micro-electromechanical (MEMS) three-axes accelerometers and gyroscopes in a unique redundant design that allows the device size to shrink while pushing performance to its maximum.
The Pulse-40 on a development board. (Photo: SBG Systems)
Among the performance specifications, the Pulse-40 features excellent gyro and accelerometer bias instability of 0.8°/h and 6 µg respectively, enabling long dead-reckoning and maintaining excellent heading performance. With sensors featuring extremely low vibration rectification error (VRE), the Pulse-40 is able to sustain high vibration environments, up to 10 g root-mean-squared.
An embedded continuous built-in-test ensures data reliability during operation, a key parameter for critical applications. The Pulse-40 requires no periodic maintenance. An intensive qualification process — including accelerated aging — guarantees that the sensor behavior is stable over time.
Photo: SBG Systems
Main Features
Size, weight and power (SWaP) design: 12 grams, 0.3W Power consumption
Ultra-low noise gyro (0.08°/√h) and excellent gyro bias instability (0.8°/h)
High-precision accelerometers (6 µg)
Low vibration rectification error: shocks and vibrations MIL-STD 810 qualified
High bandwidth (480Hz) and high data rate (2KHz)
Highly tested and calibrated from –40° C to 85° C
No export restrictions
Research Result
SBG Systems’ sensor calibration and validation tools, initially based on a single axis motion simulator with a temperature chamber, have evolved over the years and are now based on 100% automated, multi-axis motion simulators with temperature chambers. The high level of automation mitigates human-error risk and ensures that all the delivered products meet their specifications. Its INS are the result of extensive research in signal processing, micro-electronics, calibration algorithms and sensor qualification, the company said.
With very low gyro noise and bias instability, the navigation performance is maximized in GNSS-disturbed or -denied environments. The Pulse-40 is export license free and ITAR free.
Autonomous vehicles require lane-level accuracy at all times and in all conditions. However, under many conditions, such as in urban canyons and tunnels, they may lose line-of-sight to enough GNSS satellites to achieve accurate and robust positioning or may have no signal at all. In these situations, they need data from other sensors, including an odometer and an inertial measurement unit (IMU). Creating reliable and safe autonomous navigation requires fusing GNSS and inertial technology in a multi-layered system.
SBG Systems and its partners LeoDrive.ai and Intempora, have been doing this to develop solutions for autonomous vehicles. SBG’s technology enables multi-sensor integration while addressing such autonomous navigation challenges as time synchronization, integrity, precise positioning and high-definition mapping.
“To ensure performance and build trust, we assemble our own IMUs from carefully selected industrial-grade parts, then we calibrate all our products individually,” said Laurent Le Thuant, business manager for SBG, in a recent webinar.
For safe operation, Le Thuant explained, the vehicle’s true positional error (PE) must be smaller than its protection level (PL), which in turn must be smaller than its alert limit (AL): PE < PL < AL. Otherwise, the solution is declared unavailable or reports misleading information.
In automotive tests conducted in a business district near Paris, an SBG vehicle was equipped with both a GNSS-only, automotive-grade multiband RTK receiver equipped with a PL determination algorithm and an RTK GNSS receiver tightly-coupled with an IMU and an odometry input. A comparison showed that the former was not suited for self-driving, while the latter significantly improved the solution availability, accuracy and protection levels.
For self-driving in the most severe conditions, even this solution requires integration of supplementary sensors, such as cameras, lidars and radars for precise localization.
Inertial Labs has acquired Memsense, a developer of inertial measurement units (IMUs) and a long-time business partner. Inertial Labs is a developer and supplier of orientation, inertial navigation and optically enhanced sensor modules.
The Inertial Labs and Memsense workforce will address the rapidly evolving needs of global customers. The combined company of more than 100 employees and 500 customers expects to introduce breakthrough technologies at an accelerated pace across high-value areas such as autonomous vehicles, GPS-denied navigation, industrial machines, and aerospace and defense.
In addition, Inertial Labs and Memsense have a strong balance sheet to support critical business initiatives, deliver with short product lead times, and invest in promising integrations, the company stated in a press release.
“Our strategic acquisition of Memsense brings together two high growth companies with proven performance in solving some of the world’s most difficult stabilization and navigation problems,” said Jamie Marraccini, president and CEO of Inertial Labs. “Our customers will benefit from our combined capabilities and resources.”
“As we move forward, Inertial Labs and Memsense will define the future of MEMS IMUs,” said James Brunch, CEO of Memsense. “Our focus on innovation, our world-class team, and our strength in customer collaboration allow us to deliver the exact specs needed by our customers.”
Inertial Labs cites the following benefits for current and future customers:
increased production capabilities of up to 50,000 units annually to meet the needs of larger aerospace and defense contracts for guidance and navigation applications
low-cost, consumer-grade IMUs, ruggedized industrial-grade models, affordable tactical-grade IMUs, and IMUs with near-FOG level of performance (0.1 deg/h bias instability)
a larger range of devices for unmanned ground vehicles (UGV); unmanned aerial vehicles (UAV); autonomous and automated ground vehicles (AGV).
expanded research and development efforts to accelerate delivery of IMUs for stabilization applications, such as electro-optical systems, pan-and-tilt platforms, and remote weapon stations (RWS)
new IMU models with improved performance will increase capabilities of the company’s GPS-aided inertial navigation systems (INS), wave sensors, motion reference units (MRU) and attitude heading reference systems (AHRS)
development of new high-performance systems including a MEMS-based gyro-compasses (3 MILS azimuth and 1 MIL elevation accuracy).
SkyTraq Technology Inc. has launched a GNSS/inertial measurement unit (IMU) suitable for both automotive pre-installation and aftermarket.
The robust PX1120D dead-reckoning module integrates a 6-axis IMU and a concurrent quad-GNSS chipset, forming a sensor-fusion solution that maximizes positioning accuracy even in challenging environments. The PX1120D receives concurrent GPS/GLONASS/Galileo/Beidou/QZSS signals.
For automotive pre-installation applications where vehicle wheel-tick signals are available, the PX1120D provides wheel-tick sensor fusion with automotive dead-reckoning. In aftermarket applications where wheel-tick signals are unavailable, the PX1120D provides an untethered dead-reckoning sensor-fusion solution.
A single PX1120D module provides both automotive and untethered dead-reckoning functionality, simplifying logistics. The PX1120D provides 100% position coverage. It is suitable for infotainment systems, telematics control units, vehicle tracking, and advanced driver-assistance systems (ADAS) applications that require the highest performance and reliability, as well as uninterrupted positioning.
The PX1120D supports flexible mounting in any orientation. Its auto-calibration feature simplifies the installation procedure.
The 12 x 16 mm PX1120D offers continuous navigation in tunnels and underground parking lots. It can output attitude, gyroscope and accelerometer sensor data, making it useful for black-box driver behavior monitoring and insurance accident reconstruction.
The PX1120D uses an AEC-Q100 qualified chipset and is manufactured in ISO/TS-16949 certified plants. An engineering sample, evaluation kit and datasheet will be available by the end of August. Volume delivery to customers begins in the fourth quarter of this year.
Continuous accurate navigation in all environments with sensor-based spoofing detection
Photo: U-blox
U-blox is introducing a series of automotive-grade positioning modules that are operational up to 105° C (221° F). The NEO-M9L modules and the M9140-KA-DR chip are built on the robust u-blox M9 GNSS platform and use dead-reckoning techniques to provide accurate position data when satellite signals are compromised or unavailable.
The u-blox NEO-M9L-20A and NEO-M9L-01A modules, as well as the M9140-KA-DR chip, are specially designed for first-mount automotive solutions. The modules and the chip are all automotive-grade, with the NEO-M9L-01A variant offering an extended operational temperature range up to 105 °C, making it suitable for integration on the roof, behind the windscreen, or inside hot electronics control units.
Applications include integrated navigation systems such as in-vehicle infotainment (IVI) and head units, integrated telematics control units and V2X.
The modules include new-generation 6-axis inertial measurement units (IMUs) that deliver low-latency 100-Hz RAW data output. The modules offer a low-latency 50-Hz position update rate, making it suitable for use in real-time applications. The automotive dead-reckoning (ADR) output combines the GNSS fix with IMU data to deliver accurate positioning output for various scenarios.
Additional GNSS-only output enables seamless integration into a variety of third-party applications. The receiver also supports wake-on-motion, which enables smart features such as theft protection and power-efficient designs.
The modules offer innovative sensor-based spoofing detection for advanced security and robustness. The chip offers protection against possible GNSS signal spoofing, which can cause navigation systems to report faulty position data or time.
“The u-blox M9 sensor-fusion products address the latest automotive market demands for quality, reliability and robustness. Availability and trustworthiness of position output are increased by using concurrent reception of four GNSS constellations,” said Aravinthan Athmanathan, product manager, Product Center Positioning at u-blox. “In addition, the spoofing-detection feature is brought to a new level compared to the predecessor. Paired with low-latency position output, attitude, and sensor data, the u-blox NEO-M9L is ready to meet current and future challenges facing the automotive market.”
All the module variants are compliant with AEC-Q104, the latest standard for ensuring the reliability of modules used in automotive applications. Engineering samples and evaluation kits will be available by the end of September.
Of the hundreds of papers researchers presented at the Institute of Navigation’s annual ION GNSS+ conference, which took place virtually Sept. 21–25, the following four focused on autonomous vehicle positioning for automobiles on city streets. The papers are available at www.ion.org/publications/browse.cfm.
Digital Maps with Tethered Positioning
The authors propose a new method for tight integration of digital map and dead-reckoning (DR) system (inertial measurement unit plus wheel odometer) to provide reliable navigation solutions in challenging GNSS environments for extended periods. Integrated DR and GNSS have been widely used as the backbone of any navigation system for the internet of things (IoT) and vehicle navigation applications. Dollar-level micro-electro-mechanical system (MEMS) inertial measurement units (IMUs) aided by vehicle-wheel odometers have been recently used as low-cost DR systems to bridge GNSS gaps in harsh environments, such as urban canyons, tunnels and under bridges.
However, DR drift errors rapidly increase over time and cannot satisfy most IoT and land-vehicle navigation requirements. Plus, the GNSS receiver may fail to provide accurate position or even experience a complete outage for more than 15 minutes, causing the tethered positioning error to reach several hundred meters. Because land vehicles are supposed to travel on roads, feedback from a digital map can be used to constrain their position.
The authors used a fuzzy-logic map-matching algorithm to identify the correct road segment on which the vehicle moves. A feedback filter senses a correct map-matched position as well as the road segment as measurement updates to the Kalman filter (KF) of the tethered positioning system. The proposed tight integration of digital maps and a DR system is evaluated using datasets collected by Profound Positioning Inc. in Calgary, Alberta, Canada. Results show the proposed method has an average of 0.15% of relative horizontal position error for Calgary datasets — a considerable improvement over the tethered-solution-only with 3.3% of relative horizontal position error. The average azimuth error of the proposed system is 1.3 degrees, while the tethered positioning system shows an average azimuth error of 9.7 degrees.
Citation. Yashar Balazadegan Sarvrood, Haiyu Lan, Aboelmagd Noureldin, Naser El-Sheimy and Profound Positioning Inc., Calgary, Alberta, Canada. “Tight Integration of Digital Map and Tethered Positioning and Navigation Solution for IoT applications and Land Vehicles.”
5G Signals for Opportunistic Navigation
This paper presents a navigation framework in which 5G signals are used for navigation purposes in an opportunistic fashion. A carrier-aided code-based software-defined receiver (SDR) produces navigation observables from received downlink 5G signals. The SDR produces navigation observables from 5G signals and a navigation filter in which the observables are processed to estimate the user equipment’s position and velocity.
An experiment was conducted on a ground vehicle to assess the navigation performance of 5G signals. In the experiment, the vehicle-mounted receiver navigated using 5G signals from two 5G base stations (also known as gNodeBs, or gNBs) for 1.02 km in 100 seconds. The proposed 5G navigation framework demonstrated a position root-mean-squared error of 14.93 m, while listening to signals from only two gNBs.
Citation. Ali A. Abdallah, Kimia Shamaei and Zaher M. Kassas, “Assessing Real 5G Signals for Opportunistic Navigation.”
Using Low-Cost Onboard Sensors
For autonomous vehicles, accurate positioning must be ubiquitous — reliably available at all times and in all places in which the vehicle is expected to operate. While GNSS commonly provides the basis for absolute positioning, it suffers from the problem of availability whenever a direct view of enough satellites is not possible. To address this failure mode, additional complementary sensors can be added to the overall navigation solution through a technique known as sensor fusion. Sensors such as inertial measurement units (IMUs), cameras, lidars, radar and more can be selected in such a way that the individual shortcomings of each sensor are mitigated, and the overall robustness and reliability are improved.
Although current autonomous-vehicle applications employ sensor-fusion techniques, they tend to rely on high-performance sensors to meet the accuracy requirements. These high-performance sensors tend to induce a much higher cost burden than would be acceptable for commercial production, and therefore make mass autonomy too expensive.
This paper focuses on using the lower cost sensors already available on most modern vehicles. These include low-resolution odometry and consumer-grade IMUs currently used for dynamic stability control and wheel-slip detection. A novel approach for combining vehicle speed, steering angles, transmission settings and multiple odometry inputs is presented along with achievable results while operating under a GNSS-denied environment. The test trajectory mimics a typical parking structure with many corners and short, straight segments. The only a priori information required for the filter is the wheel track and wheelbase (separation distance of the wheels).
A 90% performance improvement compared to the stand-alone GNSS/INS solution was observed during GNSS outages of up to 30 minutes. Furthermore, up to a 50% improvement was observed when comparing the multi-odometry to the single-odometry outages during the same 30-minute outage condition. Beyond GNSS outage performance, this paper shows how the use of the extra input to the filter can improve the positioning system’s protection levels to allow for more frequent engagement of the autonomous navigation system.
Citation. Ryan Dixon, Michael Bobye, Brett Kruger and Jonathan Jacox, “GNSS/INS Sensor Fusion with On-Board Vehicle Sensors.”
Radar and INS/GNSS
An autonomous vehicle requires a ubiquitous, accurate, precise and reliable localization system. Many sensors can be used for positioning and navigation, each with its strengths and weaknesses. Inertial measurement units (IMU) are usually used to build inertial navigation systems (INS). INS can be accurate for short durations; however, an INS accumulates errors and loses its accuracy quickly, especially when using low-cost MEMS-based sensors. GNSS can provide an absolute position and velocity to update the INS over time. A barometer provides absolute elevation information, and an odometer provides a speed update.
An integrated navigation solution consisting of an IMU, a GNSS-RTK receiver and odometer can perform well in open-sky areas and on highways. This system can achieve lane-level accuracy most of the time based on the condition of the sensors and the quality of the measurements. However, in downtown and urban environments, the degradation, multipath and blockage of the GNSS signal leads to poor performance for such an integrated navigation system, which is challenged to maintain lane-level positioning.
This paper presents a version of AUTO (formerly known as Coursa Drive), a real-time integrated navigation system that provides an accurate, reliable, high-rate and continuous navigation solution for autonomous vehicles by integrating INS, RTK GNSS, odometer and radar sensors with TomTom’s HD Maps. AUTO performs a tight nonlinear integration of the radar data and maps with the INS/GNSS/odometer system.
Results demonstrate that radar measurements and HD Maps can be tightly integrated with INS/GNSS in an effective manner, such that the integrated system can provide a high-rate, accurate, reliable and robust navigation solution. This is a crucial requirement for realizing a fully autonomous vehicle that can operate in urban environments under a wide range of conditions, including adverse weather and lighting conditions, even in downtown areas with degraded or denied GNSS signals.
Citation. Abdelrahman Ali, Billy Chan, Amr Shebl Ahmed, Medhat Omr, Dylan Krupity, Qingli Wang, Amr Al-Hamad, Jacques Georgy and Christopher Goodall, “Tight Coupling Between Radar and INS/GNSS with AUTO Software for Accurate and Reliable Positioning for Autonomous Vehicles.”
