Development of loosely-coupled FOG/DGPS and FOG/RTk systems for ADAS and a methodology to assess their real-time performances

This paper tackles the problem of precise car localization for advance driver assistance system applications. Localization is performed by loosely coupling proprioceptive data with exteroceptive perceptions. Two localization systems were designed, one based on differential GPS and the other on real time kinematic GPS. In both cases, sensor latencies were precisely measured and taken into account to minimize their effects. Track experimentations were carried out with two vehicles at different speeds. A methodology based on a comparison with a post-processed kinematic GPS reference is presented to evaluate performances of the two systems.