ISPRS-Archives The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences ISPRS-Archives Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci. 2194-9034 Copernicus Publications Göttingen, Germany 10.5194/isprs-archives-XLVIII-G-2025-633-2025 Real-Time Precision Navigation Design for Autonomous Vehicle with EGI System Hsu Chin-Chia 1 Huang Yen-En 1 Chiang Kai-Wei 1 Tsai Meng-Lun 1 Chu Chien-Hsun 1 Department of Geomatics, National Cheng Kung University, Tainan, Taiwan 28 07 2025 XLVIII-G-2025 633 640 Copyright: © 2025 Chin-Chia Hsu et al. 2025 This work is licensed under the Creative Commons Attribution 4.0 International License. To view a copy of this licence, visit https://creativecommons.org/licenses/by/4.0/ This article is available from https://isprs-archives.copernicus.org/articles/XLVIII-G-2025/633/2025/isprs-archives-XLVIII-G-2025-633-2025.html The full text article is available as a PDF file from https://isprs-archives.copernicus.org/articles/XLVIII-G-2025/633/2025/isprs-archives-XLVIII-G-2025-633-2025.pdf

This research presents an innovative system framework, and a multi-sensor integration algorithm aimed at improving the navigation accuracy of autonomous vehicle (AV). This study addresses the shortcomings of the LiDAR-centric approach used in Autoware, a popular open-source platform for self-driving cars. This article presents FalcoNav.AI, a novel INS-centric method, integrating inertial navigation, satellite positioning, Light Detection and Ranging (LiDAR), and High-Definition (HD) maps to enhance navigational performance. An Extended Kalman Filter (EKF) is employed for efficient data fusion and processing of Inertial Navigation System (INS). The performance of system is evaluated in various environments, including open sky, Global Navigation Satellite System (GNSS) challenge and GNSS denied areas, showing significant improvements in navigation accuracy and reliability. The key components of the system include affordable Velodyne VLP-16 and a custom-built Embedded GNSS/INS (EGI) Inertial Navigation System (EGI-370). Experiments demonstrate that the system achieves "Where-in-Lane" level accuracy, highlighting its potential for wide application in autonomous vehicle. This innovation represents a significant advance towards more dependable and precise navigation in a wide range of driving conditions.