Recently, the importance positioning technology that enables various technologies of autonomous driving to be performed more effectively is increasing. In particular, the development of high-precision navigation systems through the fusion of Multi-sensor (V2X, GNSS, IMU, Vision, Lidar, Radar, IVN, HD-Map, etc.) to provide continuous and reliable positioning information It is progressing (Ahn et al. 2018). As, High-precision navigation technology is a technology that reduces the position error by receiving the position correction data from reference station, the convergence technology of sensor such as IMU, Lidar, Radar, Vision, IVN and HD-Map convergence technology in which all the static driving environment information of the road is formed by high-precision 3D format of the lane is needed (Lee et al. 2018). Through the implementation of this technology, it is expected that the existing GPS positioning accuracy of 3~10 m can be applied to autonomous vehicles by increasing the position accuracy performance within 0.2 m. In this paper, we carried out research on the implementation of sensor synchronization acquisition system and database integration for algorithm implementation of sensor synchronization acquisition system and database integration for algorithm implementation which necessary for implementation for an RTK/GNSS/IMU fusion absolute positioning algorithm, a Jamming/Spoofing response algorithm and so on of distributional complex positioning module for autonomous driving vehicle.

Keywords: multi-sensor, complex-positioning, autonomous-driving