Читать книгу Engineering Autonomous Vehicles and Robots - Shaoshan Liu - Страница 22

The GNSS system is a natural choice for vehicle localization, especially with RTK capability, GNSS systems can achieve very high localization accuracy. GNSS provides detailed localization information such as latitude, longitude, altitude, as well as vehicle heading. Nonetheless, GNSS accuracy suffers when there are buildings and trees blocking an open sky, leading to multipath problems. Hence, we cannot solely rely on GNSS for localization.