{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,3]],"date-time":"2026-06-03T15:44:21Z","timestamp":1780501461036,"version":"3.54.1"},"reference-count":40,"publisher":"MDPI AG","issue":"1","license":[{"start":{"date-parts":[[2021,12,22]],"date-time":"2021-12-22T00:00:00Z","timestamp":1640131200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100001809","name":"the National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["No. 42074012"],"award-info":[{"award-number":["No. 42074012"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"name":"the Liaoning Key Research and Development Program","award":["No. 2020JH2\/10100044"],"award-info":[{"award-number":["No. 2020JH2\/10100044"]}]},{"name":"the LiaoNing Revitalization Talents Program","award":["No. XLYC2002101"],"award-info":[{"award-number":["No. XLYC2002101"]}]},{"name":"the LiaoNing Revitalization Talents Program","award":["No. XLYC2008034"],"award-info":[{"award-number":["No. XLYC2008034"]}]},{"name":"the Fundamental Research Program of the Liaoning Education Department","award":["No. LJ2020JCL016"],"award-info":[{"award-number":["No. LJ2020JCL016"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Remote Sensing"],"abstract":"<jats:p>Seamless positioning systems for complex environments have been a popular focus of research on positioning safety for autonomous vehicles (AVs). In particular, the seamless high-precision positioning of AVs indoors and outdoors still poses considerable challenges and requires continuous, reliable, and high-precision positioning information to guarantee the safety of driving. To obtain effective positioning information, multiconstellation global navigation satellite system (multi-GNSS) real-time kinematics (RTK) and an inertial navigation system (INS) have been widely integrated into AVs. However, integrated multi-GNSS and INS applications cannot provide effective and seamless positioning results for AVs in indoor and outdoor environments due to limited satellite availability, multipath effects, frequent signal blockages, and the lack of GNSS signals indoors. In this contribution, multi-GNSS-tightly coupled (TC) RTK\/INS technology is developed to solve the positioning problem for a challenging urban outdoor environment. In addition, ultrawideband (UWB)\/INS technology is developed to provide accurate and continuous positioning results in indoor environments, and INS and map information are used to identify and eliminate UWB non-line-of-sight (NLOS) errors. Finally, an improved adaptive robust extended Kalman filter (AREKF) algorithm based on a TC integrated single-frequency multi-GNSS-TC RTK\/UWB\/INS\/map system is studied to provide continuous, reliable, high-precision positioning information to AVs in indoor and outdoor environments. Experimental results show that the proposed scheme is capable of seamlessly guaranteeing the positioning accuracy of AVs in complex indoor and outdoor environments involving many measurement outliers and environmental interference effects.<\/jats:p>","DOI":"10.3390\/rs14010027","type":"journal-article","created":{"date-parts":[[2021,12,23]],"date-time":"2021-12-23T02:02:57Z","timestamp":1640224977000},"page":"27","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":30,"title":["A Seamless Navigation System and Applications for Autonomous Vehicles Using a Tightly Coupled GNSS\/UWB\/INS\/Map Integration Scheme"],"prefix":"10.3390","volume":"14","author":[{"given":"Changqiang","family":"Wang","sequence":"first","affiliation":[{"name":"School of Geomatics, Liaoning Technical University, Fuxin 123000, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Aigong","family":"Xu","sequence":"additional","affiliation":[{"name":"School of Geomatics, Liaoning Technical University, Fuxin 123000, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Xin","family":"Sui","sequence":"additional","affiliation":[{"name":"School of Geomatics, Liaoning Technical University, Fuxin 123000, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yushi","family":"Hao","sequence":"additional","affiliation":[{"name":"School of Electronic Information Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100191, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Zhengxu","family":"Shi","sequence":"additional","affiliation":[{"name":"School of Geomatics, Liaoning Technical University, Fuxin 123000, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-9868-2614","authenticated-orcid":false,"given":"Zhijian","family":"Chen","sequence":"additional","affiliation":[{"name":"School of Geomatics, Liaoning Technical University, Fuxin 123000, China"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2021,12,22]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"2834","DOI":"10.1109\/ACCESS.2017.2785443","article-title":"Method to improve the positioning accuracy of vehicular nodes using IEEE 802.11p protocol","volume":"6","author":"Li","year":"2017","journal-title":"IEEE Access"},{"key":"ref_2","doi-asserted-by":"crossref","first-page":"357","DOI":"10.1109\/JPROC.2019.2948775","article-title":"The security of autonomous driving: Threats, defenses, and future directions","volume":"108","author":"Ren","year":"2019","journal-title":"Proc. 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