A Hybrid Fusion Strategy for the Land Vehicle Navigation Using MEMS INS, Odometer and GNSS

Du, Shuang; Zhang, Shu; Gan, Xudong

doi:10.1109/access.2020.3016004

Cited by 12 publications

(9 citation statements)

References 43 publications

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“…Due to their extensive capabilities, GNSS/INS systems are primarily used in navigation and transport applications. These include tests using Unmanned Aerial Vehicles (UAV) [8][9][10] and Unmanned Surface Vehicles (USV) [11,12], locating mobile phones [13], indoor [14], terrestrial [15] and space [16] navigation, geodetic [17][18][19] and hydrographic surveys [20][21][22], operating Autonomous Ground Vehicles (AGV) [23][24][25], rail transport, in particular for the purposes of High-Speed Rail (HSR) [26,27], road transport [28][29][30] or preventing intentional interference [31,32].…”

Section: Hydrographic Surveys Are Among the Navigation Applications That Commonly Use Global Navigation Satellite Systems (Gnss) Accordinmentioning

confidence: 99%

Study on the Positioning Accuracy of GNSS/INS Systems Supported by DGPS and RTK Receivers for Hydrographic Surveys

Stateczny

Specht

et al. 2021

Energies

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Hydrographic surveys, in accordance with the International Hydrographic Organization (IHO) S-44 standard, can be carried out in the following five orders: Exclusive, Special, 1a, 1b and 2, for which minimum accuracy requirements for the applied positioning system have been set out. They are as follows, respectively: 1, 2, 5, 5 and 20 m, with a confidence level of 95% in two-dimensional space. The Global Navigation Satellite System (GNSS) network solutions (accuracy: 2–3 cm (p = 0.95)) and the Differential Global Positioning System (DGPS) (accuracy: 1–2 m (p = 0.95)) are now commonly used positioning methods in hydrography. Due to the fact that a new order of hydrographic surveys has appeared in the IHO S-44 standard from 2020—Exclusive, looking at the current positioning accuracy of the DGPS system, it is not known whether it can be used in it. The aim of this article is to determine the usefulness of GNSS/Inertial Navigation Systems (INS) for hydrographic surveys. During the research, the following two INSs were used: Ekinox2-U and Ellipse-D by the SBG Systems, which were supported by DGPS and Real Time Kinematic (RTK) receivers. GNSS/INS measurements were carried out during the manoeuvring of the Autonomous/Unmanned Surface Vehicle (ASV/USV) named “HydroDron” on Kłodno lake in Zawory. The acquired data were processed using the mathematical model that allows us to assess whether any positioning system at a given point in time meets (or not) the accuracy requirements for each IHO order. The model was verified taking into account the historical and current test results of the DGPS and RTK systems. Tests have confirmed that the RTK system meets the requirements of all the IHO orders, even in situations where it is not functioning 100% properly. Moreover, it was proven that the DGPS system does not only meet the requirements provided for the most stringent IHO order, i.e., the Exclusive Order (horizontal position error ≤ 1 m (p = 0.95)). Statistical analyses showed that it was only a few centimetres away from meeting this criterion. Therefore, it can be expected that soon it will be used in all the IHO orders.

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Section: Hydrographic Surveys Are Among the Navigation Applications That Commonly Use Global Navigation Satellite Systems (Gnss) Accordinmentioning

confidence: 99%

Study on the Positioning Accuracy of GNSS/INS Systems Supported by DGPS and RTK Receivers for Hydrographic Surveys

Stateczny

Specht

et al. 2021

Energies

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“…The authors of [ 61 ] developed GINav, an open-source software which focuses on the data processing and analysis of a GNSS/INS integrated navigation system. The authors of [ 62 ] presented in-field road tests with two different MEMS inertial measurement units (IMU) to verify their strategy of excluding navigation errors. This strategy was applied as integration of the MEMS/INS, odometer and GNSS.…”

Section: Introductionmentioning

confidence: 99%

Determination of Turning Radius and Lateral Acceleration of Vehicle by GNSS/INS Sensor

Jagelčák

Gnap

Kuba

et al. 2022

Sensors

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In this article, we address the determination of turning radius and lateral acceleration acting on a vehicle up to 3.5 t gross vehicle mass (GVM) and cargo in curves based on turning radius and speed. Global Navigation Satellite System with Inertial Navigation System (GNSS/INS) dual-antenna sensor is used to measure acceleration, speed, and vehicle position to determine the turning radius and determine the proper formula to calculate long average lateral acceleration acting on vehicle and cargo. The two methods for automatic selection of events were applied based on stable lateral acceleration value and on mean square error (MSE) of turning radiuses. The models of calculation of turning radius are valid for turning radius within 5–70 m for both methods of automatic selection of events with mean root mean square error (RMSE) 1.88 m and 1.32 m. The models of calculation of lateral acceleration are valid with mean RMSE of 0.022 g and 0.016 g for both methods of automatic selection of events. The results of the paper may be applied in the planning and implementation of packing and cargo securing procedures to calculate average lateral acceleration acting on vehicle and cargo based on turning radius and speed for vehicles up to 3.5 t GVM. The results can potentially be applied for the deployment of autonomous vehicles in solutions grouped under the term of Logistics 4.0.

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“…Measurements carried out indicated that the position error did not exceed 15 m. Inertial navigation systems are commonly used in navigation and transport applications. The most important of them include: tests using Autonomous Ground Vehicles (AGV) [22][23][24], Unmanned Aerial Vehicles (UAV) [25][26][27] and Unmanned Surface Vehicles (USV) [28,29]; locating mobile phones [30], indoor [31], terrestrial [32] and space [33]; navigation, geodetic [34][35][36] and hydrographic surveys [37][38][39]; and rail transport [40,41] and road transport [42][43][44]. Moreover, they are used in the case of preventing intentional interference [45,46] and in urban areas in which the multipath effect occurs [47][48][49].…”

Section: Introductionmentioning

confidence: 99%

Study on the Positioning Accuracy of the GNSS/INS System Supported by the RTK Receiver for Railway Measurements

Specht

Stateczny

et al. 2022

Energies

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Currently, the primary method for determining the object coordinates is positioning using Global Navigation Satellite Systems (GNSS) supported by Inertial Navigation Systems (INS). The main goal of this solution is to ensure high positioning availability, particularly when access to satellite signals is limited (in tunnels, areas with densely concentrated buildings and in forest areas). The aim of this article is to determine whether the GNSS/INS system supported by the RTK receiver is suitable for the implementation of selected geodetic and construction tasks in railway engineering, such as determining the place and extent of rail track deformations (1 cm (p = 0.95)), the process of a rapid stocktaking of existing rail tracks (3 cm (p = 0.95)) and for design and construction works (10 cm (p = 0.95)), as well as what the impact of various terrain obstacles have on the obtained positioning accuracy of the tested system. During the research, one INS was used, the Ekinox2-U by the SBG Systems, which was supported by the Real-Time Kinematic (RTK) receiver. GNSS/INS measurements were conducted on three representative sections varying in terms of terrain obstacles that limit the access to satellite signals during mobile railway measurements in Tricity (Poland). The acquired data allowed us to calculate the basic position accuracy measures that are commonly used in navigation and transport applications. On this basis, it was concluded that the Ekinox2-U system can satisfy the positioning accuracy requirements for rapid stocktaking of existing rail tracks (3 cm (p = 0.95)), as well as for design and construction works (10 cm (p = 0.95)). On the other hand, the system cannot be used to determine the place and extent of rail track deformations (1 cm (p = 0.95)).

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A Hybrid Fusion Strategy for the Land Vehicle Navigation Using MEMS INS, Odometer and GNSS

Cited by 12 publications

References 43 publications

Study on the Positioning Accuracy of GNSS/INS Systems Supported by DGPS and RTK Receivers for Hydrographic Surveys

Study on the Positioning Accuracy of GNSS/INS Systems Supported by DGPS and RTK Receivers for Hydrographic Surveys

Determination of Turning Radius and Lateral Acceleration of Vehicle by GNSS/INS Sensor

Study on the Positioning Accuracy of the GNSS/INS System Supported by the RTK Receiver for Railway Measurements

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