Fusion of RTK GNSS receiver and IMU for accurate vehicle tracking

Shenghong Li, Mark Hedley, Alija Kajan, Wei Ni, Iain Collings

Research output: Chapter in Book/Report/Conference proceedingConference proceeding contributionpeer-review


The positioning accuracy of global navigation satellite systems (GNSS) is compromised if the receiver is not in an open-sky environment. Sensor fusion is a promising technique to remedy this problem, improving the accuracy and integrity of the GNSS systems. This paper studies the fusion of Real Time Kinematic (RTK) GNSS receiver and inertial measurement unit (IMU) for accurate vehicle tracking, with a specific focus on the case where the GNSS measurements and IMU measurements are unsynchronized. A post processing algorithm based on Bayesian smoothing is proposed to improve the tracking accuracy, and an offline synchronization algorithm is proposed to correct the time offset between IMU and GNSS measurements. The performance of the proposed algorithms is validated experimentally on a vehicle. It is shown that the tracking accuracy is improved significantly over conventional algorithms.
Original languageEnglish
Title of host publicationInternational Global Navigation Satellite Systems (IGNSS) 2018 Proceedings
Place of PublicationSydney
PublisherUniversity of New South Wales
Number of pages16
Publication statusPublished - 2018
EventInternational Global Navigation Satellite Systems Society Symposium (IGNSS) 2018 - UNSW, Sydney, Australia
Duration: 7 Feb 20189 Feb 2018


ConferenceInternational Global Navigation Satellite Systems Society Symposium (IGNSS) 2018


  • RTK
  • IMU
  • Sensor Fusion
  • vehicle tracking
  • Post Processing


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