Please use this identifier to cite or link to this item:
http://hdl.handle.net/10397/81562
DC Field | Value | Language |
---|---|---|
dc.contributor | Interdisciplinary Division of Aeronautical and Aviation Engineering | - |
dc.creator | Wen, W | - |
dc.creator | Bai, X | - |
dc.creator | Kan, YC | - |
dc.creator | Hsu, LT | - |
dc.date.accessioned | 2019-11-27T04:22:35Z | - |
dc.date.available | 2019-11-27T04:22:35Z | - |
dc.identifier.issn | 0018-9545 | en_US |
dc.identifier.uri | http://hdl.handle.net/10397/81562 | - |
dc.language.iso | en | en_US |
dc.publisher | Institute of Electrical and Electronics Engineers | en_US |
dc.rights | © 2019 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. | en_US |
dc.rights | Personal use is permitted, but republication/redistribution requires IEEE permission. See http://www.ieee.org/publications_standards/publications/rights/index.html for more information. | en_US |
dc.rights | The following publication W. Wen, X. Bai, Y. C. Kan and L. Hsu, "Tightly Coupled GNSS/INS Integration via Factor Graph and Aided by Fish-Eye Camera," in IEEE Transactions on Vehicular Technology, vol. 68, no. 11, pp. 10651-10662, Nov. 2019 is available at https://dx.doi.org/10.1109/TVT.2019.2944680 | en_US |
dc.subject | GNSS | en_US |
dc.subject | INS | en_US |
dc.subject | Camera | en_US |
dc.subject | Integration | en_US |
dc.subject | Factor graph | en_US |
dc.subject | Positioning | en_US |
dc.subject | Autonomous driving | en_US |
dc.title | Tightly coupled GNSS/INS integration via factor graph and aided by fish-eye camera | en_US |
dc.type | Journal/Magazine Article | en_US |
dc.identifier.spage | 10651 | en_US |
dc.identifier.epage | 10662 | en_US |
dc.identifier.volume | 68 | en_US |
dc.identifier.issue | 11 | en_US |
dc.identifier.doi | 10.1109/TVT.2019.2944680 | en_US |
dcterms.abstract | GNSS/INS integrated solution has been extensively studied over the past decades. However, its performance relies heavily on environmental conditions and sensor costs. The GNSS positioning can obtain satisfactory performance in the open area. Unfortunately, its accuracy can be severely degraded in a highly urbanized area, due to the notorious multipath effects and noneline-of-sight (NLOS) receptions. As a result, excessive GNSS outliers occur, which causes a huge error in GNSS/INS integration. This paper proposes to apply a fish-eye camera to capture the sky view image to further classify the NLOS and line-of-sight (LOS) measurements.Inaddition,therawINSandGNSSmeasurements are tightly integrated using a state-of-the-art probabilistic factor graphmodel.InsteadofexcludingtheNLOSreceptions,thispaper makes use of both the NLOS and LOS measurements by treating them with different weightings. Experiments conducted in typical urban canyons of Hong Kong showed that the proposed method could effectively mitigate the effects of GNSS outliers, and an improved accuracy of GNSS/INS integration was obtained, when compared with the conventional GNSS/INS integration. | - |
dcterms.accessRights | open access | en_US |
dcterms.bibliographicCitation | IEEE transactions on vehicular technology, Nov. 2019, v. 68, no. 11, p. 10651-10662 | - |
dcterms.isPartOf | IEEE transactions on vehicular technology | - |
dcterms.issued | 2019-11 | - |
dc.identifier.eissn | 1939-9359 | en_US |
dc.description.validate | 201911 bcrc | en_US |
dc.description.oa | Accepted Manuscript | en_US |
dc.identifier.FolderNumber | a0410-n02 | en_US |
dc.description.pubStatus | Published | en_US |
Appears in Collections: | Journal/Magazine Article |
Files in This Item:
File | Description | Size | Format | |
---|---|---|---|---|
manuscript_WWS_GNSS_IMU_factor_graph_aided_by_fished_eye_camera.pdf | Pre-Published version | 2.03 MB | Adobe PDF | View/Open |
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