ESKF-based Vehicle Positioning Through Cellular Signals, GNSS, IMU, and Odometer

This paper presents the design of a localization system based on Error-State Kalman Filter (ESKF) by fusing the information from Global Navigation Satellite System (GNSS), Inertial Measurement Unit (IMU), Signal of Opportunity (SOP), and Odometer (ODO). We adopt different combination structures in various scenarios to enhance the robustness of the localization. The proposed system achieves high positioning accuracy compared to single sensor and shows strong anti-interference capability.