Vehicle Localization Algorithm with Lane Discrimination Based on Inertial and Geomagnetic Sensor Data for GNSS-Denied Environments and Its Evaluation for Different Vehicles and Drivers

Abstract

We have been developing a method to estimate a moving vehicle's position using MEMS sensor data, including acceleration, gyroscope, and geomagnetic sensors. This algorithm has been evaluated on several fixed courses, achieving good results with a position error of less than 1 meter. However, questions remain regarding whether the algorithm can distinguish between lanes and if it is applicable across different drivers and vehicles than those used to obtain reference data. This paper presents evaluation results of the algorithm conducted on a two-lane road, demonstrating its ability to differentiate between lanes. Furthermore, it confirms that the algorithm can accurately estimate the vehicle's position even when tested with different vehicles and drivers.