A Novel In-Motion Alignment Method Based on Trajectory Matching for Autonomous Vehicles

Yan, Ziyi; Zhang, Chunxi; Yang, Yanqiang; Liang, Jian

doi:10.1109/tvt.2021.3058940

Cited by 14 publications

(6 citation statements)

References 25 publications

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“…They measure the three-dimensional trajectory of urban underground pipelines within 200 m in complicated field conditions, where electromagnetic disturbances exist, and the maximum horizontal error is less than 0.4 m. In 2022, Dai, M. et al [ 34 ] designed a small-volume combined magnetic heading measurement scheme of vertical single-axis FOG, tri-axial MEMS accelerometer, and tri-axial magnetometer, which can improve the accuracy of magnetic heading angle measurement in the case of continuous rotation of a large angle. In addition, the combination of GPS and FOG-INS is widely used in many fields because it can provide accurate initial position, but the inability to accurately identify satellite signals in the underground space will lead to information retention or even reception failure, and this phenomenon is more obvious as the drilling depth increases [ 44 , 45 ]. Guan, L. et al [ 46 ] proposed that GPS signals can be used at two ends of underground pipeline measurements.…”

Section: Fog Drilling Tool Attitude Mwd Unitmentioning

confidence: 99%

Application and Development of Fiber Optic Gyroscope Inertial Navigation System in Underground Space

Xu,

Wang,

et al. 2023

Sensors

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Fiber Optic Gyroscope Inertial Navigation System (FOG-INS) is a navigation system using fiber optic gyroscopes and accelerometers, which can offer high-precision position, velocity, and attitude information for carriers. FOG-INS is widely used in aerospace, marine ships, and vehicle navigation. In recent years, it has also played an important role in underground space. For example, in the deep earth, FOG-INS can be used in directional well drilling, which can enhance recovery in resource exploitation. While, in shallow earth, FOG-INS is a high-precision positioning technique that can guide construction in trenchless underground pipelaying. This article extensively reviews the application status and latest progress of FOG-INS in underground space from three aspects—FOG inclinometer, FOG drilling tool attitude measurement while drilling (MWD) unit, and FOG pipe-jacking guidance system. First, measurement principles and product technologies are introduced. Second, the research hot spots are summarized. Finally, the key technical issues and future trends for development are put forward. The findings of this work are useful for further research in the field of FOG-INS in underground space, which not only provides new ideas and directions for scientific research, but also offers guidance for subsequent engineering applications.

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Section: Fog Drilling Tool Attitude Mwd Unitmentioning

confidence: 99%

Application and Development of Fiber Optic Gyroscope Inertial Navigation System in Underground Space

Xu,

Wang,

et al. 2023

Sensors

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“…Over the past few years, the Internet of Things (IoT) has grown by leaps and bounds, and created a world where smart devices are able to connect to the Internet and communicate with each other. This, hence, fosters an ever-increasing number of real-time monitoring networks in many domains, e.g., traffic monitoring [1] [2], underwater acoustic sensor networks [3] [4], autonomous navigation [5] [6], and unmanned aerial vehicle (UAV) communications [7] [8]. Different from traditional networks which are mostly designed with a concentration on transmitting messages accurately and efficiently, these IoT based networks are also supposed to react and make decisions based on received data, which means the timeliness of data is vital since timely data strongly supports the network implementation while outdated data causes erroneous decisions or overreactions.…”

Section: Introductionmentioning

confidence: 99%

Minimizing Age-upon-Decisions in Bufferless System: Service Scheduling and Decision Interval

Chen¹,

Zhang²,

Chen³

et al. 2022

Preprint

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The data freshness at decision epochs of timesensitive applications, e.g., auto-driving vehicles and autonomous underwater robots, is jointly affected by the statistics of update process and decision process. This work considers an update-anddecision system with a Poisson-arrival bufferless queue, where updates are delivered and processed for making decisions with exponential or periodic intervals. We use age-upon-decisions (AuD) to characterize timeliness of updates at decision moments, and the missing probability to specify whether updates are useful for decision-making. Our theoretical analyses 1) present the average AuDs and the missing probabilities for bufferless systems with exponential or deterministic decision intervals under different service time distributions; 2) show that for service scheduling, the deterministic service time achieves a lower average AuD and a smaller missing probability than the uniformly distributed and the negative exponentially distributed service time; 3) prove that the average AuD of periodical decision system is larger than and will eventually drop to that of Poisson decision system along with the increase of decision rate; however, the missing probability in periodical decision system is smaller than that of Poisson decision system. The numerical results and simulations verify the correctness of our analyses, and demonstrate that the bufferless systems outperform the systems applying infinite buffer size.

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“…In the literature, a tightly-coupled RTK/INS integrated navigation system has been studied by a few works [Li et al, 2017, Li et al, 2019, Yan et al, 2021. Reference [Li et al, 2017] discussed the integration of multi-GNSS singlefrequency RTK and MEMS IMU.…”

Section: Introductionmentioning

confidence: 99%

“…Reference [Yang et al, 2021] proposed a non-holonomic robust and adaptive Kalman filter to improve the robustness of the RTK/INS integrated system. Reference [Yan et al, 2021] studied the in-motion alignment in RTK/INS system for autonomous driving. Similar to RTK/INS, a tightly-coupled PPP-RTK/INS integrated system under the complex urban envi-ronments is discussed in [Li et al, 2021].…”

Section: Introductionmentioning

confidence: 99%

Tightly-Coupled RTK/Ins Integrated Navigation Using a Low-Cost GNSS Receiver and a Mems Imu

Sun

Zhuang

Chen

et al. 2022

Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci.

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Abstract. The Global Navigation Satellite System (GNSS) real-time kinematics (RTK) is a technology to provide centimeter-level navigation services in outdoor areas. GNSS/INS integration is a typical integrated navigation system, including loosely, tightly, and ultra-tightly coupled integration, which has been studied for decades. Although GNSS aiding INS is a relatively mature system, RTK is rarely used to be integrated with INS. In this work, we present a model with a tightly-coupled (TC) scheme to integrate RTK and INS using an extended Kalman Filter (EKF). Multi-GNSS multi-frequency double-differenced pseudo-ranges and carrier phases are the updates of the measurement model. To make the ambiguity resolution, we used the well-known LAMBDA algorithm to search for the possible ambiguity series, and then use the best integer equivariant (BIE) method to decide on the most likely ambiguities with a proper weighting strategy to select from the ambiguity candidates. To test the performance of the proposed TC integration model, we implemented two field vehicular tests with a low-cost GNSS module equipped with a Micro-Electro-Mechanical System (MEMS) IMU. Using this low-cost platform, our RTK/INS integrated navigation engine can achieve centimeter-level navigation solutions under open sky conditions. In harsh environments, our TC integration system navigates on two scenarios with mean errors of 0.48 and 0.57 m, which is 51% and 28% better than a loosely-coupled system.

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A Novel In-Motion Alignment Method Based on Trajectory Matching for Autonomous Vehicles

Cited by 14 publications

References 25 publications

Application and Development of Fiber Optic Gyroscope Inertial Navigation System in Underground Space

Application and Development of Fiber Optic Gyroscope Inertial Navigation System in Underground Space

Minimizing Age-upon-Decisions in Bufferless System: Service Scheduling and Decision Interval

Tightly-Coupled RTK/Ins Integrated Navigation Using a Low-Cost GNSS Receiver and a Mems Imu

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