Table 10 Primary and secondary functionality of various sensors in terms of PLAN
Sensor | Primary functionality | Secondary functionality |
|---|---|---|
HD map | Precise localization and environment perception | Constrain localization solutions through map matching |
LiDAR | Precise point-cloud-based localization | Provide environment models and constraints |
Camera | Provide visual odometry and visual SLAM, or match images with a database | Provide environment models and constraints |
RADAR | Ranging and object detection | Enhance cameras under challenging illumination conditions |
INS | Provide continuous self-contained position, velocity, and attitude | Bridge outages of other sensors, and aid signal acquisition of other sensors |
Magnetometer | Provide absolute heading | Provide position through magnetic matching |
Odometer | Provide absolute velocity and relative distance | Constrain the drift of INS errors, and bridge GNSS and vision signal outages |
Pressure | Provide absolute height | Identify the floor level and constrain the drift of INS altitude errors |
GNSS | Provide absolute position, velocity and time | Help initialization for DR and database matching |
UWB | Provide absolute position | Provide augmentation to GNSS and INS in indoor and urban areas |
Ultrasonic | Provide absolute position | Enhance navigation under challenging weather conditions |
Visible light | Provide absolute position | Reliable landmark updates for DR |
WiFi/BLE | Provide absolute position | Help initialization for INS and database matching |
5G | Provide absolute position | Model multipath environment |