- JOURNAL OF NAVIGATION Journal
- April 2011
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- Some new Advanced Driver Assistance Sy stems (ADAS) need on-the-lane vehicle positioning on accurate digital maps, but present applications of vehicle positioning do not justify the surcharge of very ac curate equipment such as DGPS or high-cost inertial systems. For this reason, performance of GPS in autonomous mode is analyzed. Although satisfactory results can be found, in some areas GPS signal is lost or degraded, so it is necessary to know the positioning error when using only inertial system data. A th eoretical approach based on the uncertainty propagation law is used to esti mate the upper limit of distance that can be travelled fulfilling the specifications of an assistance system. Tests results support the conclusions of this approach. Finally, the comb ination of GPS and inertial systems is studied, resulting that the theoretical approach is valid when inertial measurements are used right from the start of GPS signal de gradation, without waiting for a complete loss.