Loosely coupled GPS/INS integration with snap to road for low-cost land vehicle navigation: EKF-STR for low-cost applications

Cherif, Mohamed; Leclère, Jérôme; Landry, René

doi:10.1109/plans.2018.8373391

Cited by 19 publications

(11 citation statements)

References 6 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…However, if these APs are affected in a similar manner, the effect on the position estimates could be negligible [75,76]. Although, this survey paper has focused on Wi-Fi, GNSS updates can be fused with other complimentary location sensors [77][78][79][80]. Moreover, multiple wireless ranging techniques discussed can be combined as shown in [81].…”

Section: Resultsmentioning

confidence: 99%

Infrastructure Wi-Fi for connected autonomous vehicle positioning: A review of the state-of-the-art

Adegoke

Zidane

Kampert

et al. 2019

Vehicular Communications

View full text Add to dashboard Cite

Section: Resultsmentioning

confidence: 99%

Infrastructure Wi-Fi for connected autonomous vehicle positioning: A review of the state-of-the-art

Adegoke

Zidane

Kampert

et al. 2019

Vehicular Communications

View full text Add to dashboard Cite

“…[6]. Advanced integration schemes foreseeing tight and ultratight fusion of GNSS/Inertial Navigation Sytem (INS) measurements offer promising performance in harsh environment where standalone GNSS is typically weak [7]- [10], but they require reliable sensors and their implementation can be infeasible, challenging or not suitable for consumer mobile devices [11]- [14]. As a complementary solution, the sensing of the surrounding environment has become a relevant aid to the navigation and it can be accomplished through vision systems (i.e.…”

Section: Introductionmentioning

confidence: 99%

DGNSS Cooperative Positioning in Mobile Smart Devices: a Proof of Concept

Minetto¹,

Bello²,

Dovis³

2021

Preprint

View full text Add to dashboard Cite

<div>In recent years positioning and navigation capabilities in mobile devices have become essential to the evergrowing number of position-related smart applications. Global Navigation Satellite System (GNSS) constitutes the provider for geo-localization, therefore consumer-grade, embedded GNSS receivers have become ubiquitous in mobile smart devices. Among these, smartphones play a dominant role in enabling such modern services based on position information. However, GNSS positioning shows several weaknesses in urban contexts where mobile smart devices are massively diffused. Indeed, the limited sky visibility and multipath scattering induced by buildings severely threat the quality of the final solution. Two main ingredients can enable innovative collaborative strategies capable to increase the robustness of GNSS navigation: The availability of raw GNSS measurements which have been recently disclosed in ultra-low cost smartphone chipsets and the ubiquitous connectivity provided by modern low-latency, network infrastructures allowing for near-real-time exchange of data. This work presents the architecture of a Proof Of Concept designed to demonstrate the feasibility of a GNSS-only Cooperative Positioning among networked smartphones equipped with GNSS receivers. The test campaign presented in this work assessed the feasibility of the approach over 4G/LTE network connectivity and an average accuracy improvement over the 40%.</div>

show abstract

“…In the land environment, the positioning performance of the GNSS positioning system is mainly affected by the Non-Line-of-Sight reception and the multipath interference. In [3], a real-time integrated IMU/GPS navigation system for land vehicle applications improves the positioning accuracy by detecting and eliminating abnormal observations caused by the multipath effect. In [4], relying upon a representative analysis of empirical SNR(signal-to-noise-ratio)-based weights, it proposes the elevation dependent exponential weighting function EXPZ, which benefits from realistic SNR-based weights.…”

Section: Introductionmentioning

confidence: 99%

GNSS/IMU Tightly Coupled Scheme with Weighting and FDE for Rail Applications

Han¹,

Kazim²,

Tmazirte³

et al. 2020

Proceedings of the 2020 International Technical Meeting of the Institute of Navigation

View full text Add to dashboard Cite

Her research focuses on performance evaluation of integrated navigation system. She worked within Ifsttar for an internship in the summer 2019.Dr. Juliette Marais received the engineering degree from Institut Supérieur de l'Electronique et du Numérique. She received the Ph.D. degree in electronics and the "Habilitation à diriger des recherches" from the University of Lille, France, in 2002 and 2017 respectively. Since 2002, she has been a research fellow with IFSTTAR, the French Institute of science and technology for transport, development, and networks. She is involved on two main research projects: integrity monitoring for land transport applications and GNSS propagation characterization in railway environments, with some contributions in EU or national projects. Her research interests principally include propagation phenomena, positioning and pseudorange error modeling, filtering technics, and simulation. Syed Ali Kazim works as a research engineer at IFSTTAR, the French Institute of science and technology for transport, development, and networks since 2018. His current research interests focus on multipath detection, modelling and mitigation. He is involved in European projects such as ERSAT GGC and Gate4Rail.Nourdine Aït Tmazirte works at French Institute of Technology Railenium since 2018. He got his engineering and M.Sc. degree in automation engineering from Ecole Centrale de Lille, France, both in 2010. His research interests include multi-sensor fault tolerant fusion for localization and integrity assessment. Dr.-Ing. Debiao Lu works at faculty of Electronic and Information Engineering at Beijing Jiaotong University in China since 2015. He got his doctor title at faculty of Mechanical Engineering at Technische Universität Braunschweig, Germany in 2014. He received the B.Sc. degree in telecommunication engineering and M.Sc. degree in traffic information engineering and control, both at Beijing Jiaotong University in China. His research interests include GNSS safe localization, GNSS propagation simulation and performance assessment.ABSTRACT GNSS used as a standalone positioning system fulfils most of the requirements for many applications since decades. However, the need of high available, accurate and fail-safe positioning systems for new applications such as rail autonomous vehicles for train signaling applications motivates the community to explore novel solutions. In this context, multi-constellation multi-frequency GNSS receivers have the potential to enhance the positioning solutions. However, when applied to safety-critical land transportation system, the localization function not only needs to meet accuracy requirements, but more importantly, it also needs to bound the positioning errors in order to reduce the risk of unexpected and undetected faults. Thus, in order to reach continuous and fail-safe positioning solutions, the use of complementary heterogeneous sensors with a smart hybridization becomes essential. For safety-related and regulated applications as in railways, one will also need, as ...

show abstract

Loosely coupled GPS/INS integration with snap to road for low-cost land vehicle navigation: EKF-STR for low-cost applications

Cited by 19 publications

References 6 publications

Infrastructure Wi-Fi for connected autonomous vehicle positioning: A review of the state-of-the-art

Infrastructure Wi-Fi for connected autonomous vehicle positioning: A review of the state-of-the-art

DGNSS Cooperative Positioning in Mobile Smart Devices: a Proof of Concept

GNSS/IMU Tightly Coupled Scheme with Weighting and FDE for Rail Applications

Contact Info

Product

Resources

About