Design of a low-cost attitude determination GPS/INS integrated navigation system

Hwang, Dong-Hwan; Oh, Sang Heon; Lee, Sang Jeong; Park, Chan-Sik; Rizos, Chris

doi:10.1007/s10291-005-0135-9

Cited by 36 publications

(16 citation statements)

References 8 publications

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“…Regarding hardware, future work will include the use of low cost sensors, e.g. antenna array receiver based on GPS L1 or low cost IMU as in Hwang et al (2005). Side-viewing scanning is certainly suitable to capture laminar spatial data like building facades.…”

Section: Discussionmentioning

confidence: 99%

Validation of a kinematic laserscanning system

Vennegeerts¹,

Martin²,

Becker³

2008

Jag

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Abstract. The increasing data rate of actual laser scanners qualifies these sensors for kinematic applications. In case of surveying static environments the scanner can be integrated into a moving platform system. Therefore two main tasks are outstanding. Position and orientation of the platform have to be registered throughout a freely driven trajectory. The second challenge is to synchronize the scanned spatial data with the time scale of the positioning unit. This paper presents the specification of a mobile mapping system using a phase-based laser scanner with a hybrid INS (Inertial Navigation System)/GPS solution. Among a description of the system structure it includes a software-based method to synchronize the scanned profiles with the trajectory. No extra hardware unit for time registration of scanned profiles is required. After all a spatial comparison of independently observed control points allows the assessment of the system performance.

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Section: Discussionmentioning

confidence: 99%

Validation of a kinematic laserscanning system

Vennegeerts¹,

Martin²,

Becker³

2008

Jag

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“…However, the INS has a drawback in that errors accumulate over time, especially in the case of a low-cost MEMS-INS. If the GPS and MEMS-INS are combined effectively, the reliability and accuracy of attitude determination can be improved [32][33][34].…”

Section: Methodsmentioning

confidence: 99%

Low-Cost Monitoring System of Sensors for Evaluating Dynamic Solicitations of Semitrailer Structure

et al. 2016

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Analysis of the fatigue life of a semitrailer structure necessitates identification of the loads and dynamic solicitations in the structure. These forces can be introduced in computer simulation software (multibody + finite element) for analysing the response of different design solutions to them. These numerical models must be validated and some parameters need to be measured directly in a field test with real vehicles under various driving conditions. In this study, a low-cost monitoring system is developed for application to a real fleet of semitrailers. According to the definition of the numerical model, the guidance of a virtual vehicle is defined by the three-dimensional kinematics of the kingpin. For characterisation of these movements, a monitoring system having a low-cost inertial measurement unit (IMU) and global positioning system (GPS) antennas is developed with different configurations to enable analysis of the best cost-benefit (result accuracy) solution, and an extended Kalman filter (EKF) that characterises the kinematic guidance of the kingpin is proposed. A semitrailer was equipped with the experimental low-cost monitoring system and high-precision sensors (IMU, GPS) in order to validate the results obtained by the experimental low-cost monitoring system and the inertial-extended Kalman filter developed. The validated system has applicability in the low-cost monitoring of a fleet of real vehicles.

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“…In order to reduce the effect of large outliers in pseudorange on the float ambiguity solution, a simple quality control (QC) method is adopted here, which is based on the residual chi-square test [ 6 , 10 ]. As the float solution is calculated by LSQ method, the key issue is how to construct the residual vector.…”

Section: Improved Attitude Determination Methods For Single Frequenmentioning

confidence: 99%

“…The drawback of INS is that the errors are accumulated over time especially for the low-cost MEMS-INS. If the GPS and MEMS-INS are combined effectively, the reliability and accuracy of attitude determination can be improved [ 5 , 6 , 7 ].…”

Section: Introductionmentioning

confidence: 99%

A Performance Improvement Method for Low-Cost Land Vehicle GPS/MEMS-INS Attitude Determination

Qin

et al. 2015

Sensors

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Global positioning system (GPS) technology is well suited for attitude determination. However, in land vehicle application, low-cost single frequency GPS receivers which have low measurement quality are often used, and external factors such as multipath and low satellite visibility in the densely built-up urban environment further degrade the quality of the GPS measurements. Due to the low-quality receivers used and the challenging urban environment, the success rate of the single epoch ambiguity resolution for dynamic attitude determination is usually quite low. In this paper, a micro-electro-mechanical system (MEMS)—inertial navigation system (INS)-aided ambiguity resolution method is proposed to improve the GPS attitude determination performance, which is particularly suitable for land vehicle attitude determination. First, the INS calculated baseline vector is augmented with the GPS carrier phase and code measurements. This improves the ambiguity dilution of precision (ADOP), resulting in better quality of the unconstrained float solution. Second, the undesirable float solutions caused by large measurement errors are further filtered and replaced using the INS-aided ambiguity function method (AFM). The fixed solutions are then obtained by the constrained least squares ambiguity decorrelation (CLAMBDA) algorithm. Finally, the GPS/MEMS-INS integration is realized by the use of a Kalman filter. Theoretical analysis of the ADOP is given and experimental results demonstrate that our proposed method can significantly improve the quality of the float ambiguity solution, leading to high success rate and better accuracy of attitude determination.

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Design of a low-cost attitude determination GPS/INS integrated navigation system

Cited by 36 publications

References 8 publications

Validation of a kinematic laserscanning system

Validation of a kinematic laserscanning system

Low-Cost Monitoring System of Sensors for Evaluating Dynamic Solicitations of Semitrailer Structure

A Performance Improvement Method for Low-Cost Land Vehicle GPS/MEMS-INS Attitude Determination

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