Outdoor Precise Navigation for Autonomous Vehicles through the Fusion of GPS/IMU and Acoustic Localization

This paper uses GPS, IMU, and acoustic positioning to examine precise outdoor navigation for autonomous vehicles. This research addresses challenges like GPS's limited close-range accuracy, gyroscope angle drift, and acoustic positioning's slow response. GPS and IMU data are fused using first-order complementary filtering with coefficients dynamically adjusted based on encoder values. Improved TDOA has weighted cross-power spectrum and gyro compensation, which improves the positioning accuracy, response speed, and resistance to external interference. Experiments demonstrate that an autonomous vehicle integrating these technologies reduces positioning errors with a GPS-fused heading angle MSE of 2.07. It offers new perspectives and methods for autonomous navigation development.