Sensor Fusion For Land Vehicle Localization Using Inertial MEMS and Odometry

The paper presents a sensor fusion module based on Error State Kalman Filter (ESKF) for land vehicle localization using inertial MEMS and odometry. The module fuses inputs from the Inertial Measurement Unit (IMU), On-Board Diagnostics (OBD), and GNSS to provide a vehicle trajectory estimate in real-time. Based on multiple field tests the mean circular error was 30 meters after 16 minutes of drive without GNSS signal (or 7 centimeters after 30 seconds) with average speed of 11 meters per second, which was in agreement with a theoretical estimate based on the IMU with 1 °/hr bias instability.