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Optimal INS/GNSS Coupling for Autonomous Car Positioning Integrity

Safe positioning is a critical capability for automated driving systems (ADAS). This paper describes optimal integration and filtering schemes of Inertial Measurement Units (IMU) and Global Navigation Satellite Systems (GNSS) measurements to improve and quantify positioning integrity in urban canyons with poor satellite signals. For a predefined integrity requirement, minimum achievable protection levels are quantified for realistic urban navigation scenarios.