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The article reviews the hardware of high‑precision positioning and orientation systems, explaining how GNSS and inertial measurement units (IMUs) are combined, describing sensor types, error sources, selection criteria, and testing methods needed to achieve centimeter‑level accuracy for mapping and mobility applications.
Gaode's solution combines GPS, IMU, odometer, visual sensors with map‑matching using a Kalman filter, addressing yaw drift, loss of fix, and road‑capture errors in vehicle navigation, especially in urban canyons, achieving over 90% road identification and significant error reductions while keeping hardware costs low.
This article outlines the high‑precision positioning requirements for autonomous vehicles and reviews the core technologies—including INS, GNSS/RTK, high‑definition maps, wheel sensors, and multi‑sensor fusion with Kalman filtering—detailing their principles, challenges, and typical deployment scenarios.