Please use this identifier to cite or link to this item:
http://hdl.handle.net/10397/92779
Title: | Assessment of ultra-tightly coupled GNSS/INS integration system towards autonomous ground vehicle navigation using smartphone IMU | Authors: | Luo, Y Yu, C Xu, B Li, J Tsai, GJ Li, Y El-Sheimy, N |
Issue Date: | 2019 | Source: | 2019 IEEE International Conference on Signal, Information and Data Processing (ICSIDP), 11-13 Dec. 2019, Chongqing, China | Abstract: | An ultra-tightly coupled (UTC) GNSS/INS integration navigation system is established and researched for the autonomous ground vehicle navigation based on the consumer-level inertial measurement unit (IMU). The used IMU is chosen from a smartphone in this work. The proposed integration architecture is tested with a GNSS software-defined receiver (SDR) using the vector tracking (VT) technique. The UTC integration system which is measured through both GNSS measurements and the IMU data is an upgraded version of the vector tracking technique. Meanwhile, the performances of both the integration solutions and the GNSS solutions can be improved by such advanced technology. An extremely challenging environment is chosen to verify the navigation performance. The loosely coupled (LC) GNSS/INS integration navigation system using the vector GNSS SDR and a commercial U-Blox GNSS receiver are also tested in the same scenario as comparisons. The field test results demonstrate that the proposed ultra-tight coupling algorithm can enhance the availability of the navigation solutions. | Keywords: | Consumer-level IMU Global navigation satellite system (GNSS) Ground vehicle navigation Ultra-tightly coupled GNSS/INS integration Vector tracking |
ISBN: | 978-1-7281-2345-5 (Electronic ISBN) 978-1-7281-2344-8 (CD) 978-1-7281-2346-2 (Print on Demand(PoD) ISBN) |
DOI: | 10.1109/ICSIDP47821.2019.9173292 | Rights: | © 2022 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. The following publication Luo, Y., Yu, C., Xu, B., Li, J., Tsai, G. J., Li, Y., & El-Sheimy, N. (2019, December). Assessment of Ultra-Tightly Coupled GNSS/INS Integration System towards Autonomous Ground Vehicle Navigation Using Smartphone IMU. In 2019 IEEE International Conference on Signal, Information and Data Processing (ICSIDP) (pp. 1-6). IEEE is available at https://doi.org/10.1109/ICSIDP47821.2019.9173292 |
Appears in Collections: | Conference Paper |
Files in This Item:
File | Description | Size | Format | |
---|---|---|---|---|
Xu_Assessment_Ultra-Tightly_Coupled.pdf | Pre-Published version | 2.07 MB | Adobe PDF | View/Open |
Page views
93
Last Week
0
0
Last month
Citations as of May 5, 2024
Downloads
100
Citations as of May 5, 2024
SCOPUSTM
Citations
9
Citations as of Apr 26, 2024
Google ScholarTM
Check
Altmetric
Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.