Autonomous vehicles' positioning and navigation (POS/NAV) systems provide drivers with route guidance information relying mostly on the Global Navigation Satellite Systems (GNSS). The GNSS-based POS/NAV systems suffer from satellite signal blockage, interference and multipath usually experienced by land vehicles in urban districts. The Integration with vehicle motion sensors enhances the overall performance for a short period of time. Autonomous land vehicles are now equipped with vision

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... , radars, and laser ranging devices utilized for blind spot display, forward collision mitigation and lane departure warning system. The availability of these systems provides an attractive opportunity to increase the POS/NAV system accuracy and bridge the GNSS signals blockage. This research focuses on the development of an integrated multi-sensor POS/NAV system capable of offering seamless positioning at meter level accuracy for autonomous land vehicles. The core development system is based on integrating the output from the GNSS receiver with the output from the vehicle motion sensors as well as magnetometers and the adaptive cruise control frequency modulated continuous wave (ACC-FMCW) radar. To bridge the GNSS outages a multi-sensor system utilizing magnetic azimuth from a calibrated magnetometer is developed to leverage the overall POS/NAV solution by limiting the gyroscope bias drift over time. A new calibration technique developed to reduce the errors associated with the magnetometers measurements and assist to produce ii a robust azimuth. Furthermore, a new algorithm is developed to obtain robust positioning information from ACC-FMCW used in updating the system during the GNSS outages. The proposed system is further modified by adding magnetic-azimuth update to limit the position solution drift for long GNSS outages. A further enhancement is added to the system by utilizing fast orthogonal search (FOS) to reduce the error growth during the extremely extended and frequent GNSS outages by modeling the nonlinear part of the positioning error and apply the model during the GNSS blockage periods. The proposed algorithms are evaluated on several real road trajectories, including simulated outages that last till 10 minutes. Furthermore, different land vehicles are used in the trajectories to ensure the ability to use the system on several platforms. iii