View source for Projects:2017s1-183 BMW Autonomous Vehicle Project Development of a sensor fusion algorithm to determine the current vehicle position in a local tangential plane


== Team members ==

Siyu Ji

Xiaodi Liu

== Supervisors ==

Prof. Nesimi Ertugrul

Prof. Cheng-Chew Lim

== Introduction ==
 
With the development of science and technology, the technology of high intelligence has become the main trend. Therefore autonomous cars are the development direction of future vehicles. At present, although autonomous vehicle can be used for civilian uses, it still has many problems. To determine the vehicle orientation is the first step of making the car drive on right way, which can improve the vehicle system safety and let people no longer need to pay attention to the road situation and control the vehicle.


== Abstract ==

The project that ‘Development of a sensor fusion algorithm to determine the current vehicle position in a local tangential plane’ is a subproject of BMW Autonomous Vehicle Project. In this project, the vehicle position is measured by Inertial Measurement Unit (IMU) and Differential Global Navigation Satellite System (D-GNSS). For the measurement of the orientation of the IMU sensor in a local tangential plane, the influences of the earth gravity should be eliminated. The information of vehicle orientation from IMU and D-GNSS are processed by a sensor fusion algorithm.  For this project, the Extended Kalman Filter is used to process the data, which can let the resulting information of vehicle position has less uncertainty.