Pub Date : 2010-05-04DOI: 10.1109/PLANS.2010.5507180
Y. Yuksel, N. El-Sheimy, A. Noureldin
The accurate modeling of MEMS based inertial sensor errors is one of the most challenging tasks in the design of low cost navigation systems. Although the design process of inertial navigation systems mainly depends on the sensor model parameters, a standard procedure for error characterization has yet to be developed. In the first part of this study we present a new method of stability error modeling for MEMS based multi-IMU systems. The developed method uses correlation of low pass filtered sensor outputs to derive sensor error models. In the second part the effects of i) temperature ii) time and iii) G and vibration on MEMS units' outputs are analyzed using a series of laboratory test results. A method compensating for the effect of temperature variation and modeling for residual compensation error is also explained. Better sensor models obtained with the methods presented in this paper will lead to more robust navigation systems with low cost MEMS units.
{"title":"Error modeling and characterization of environmental effects for low cost inertial MEMS units","authors":"Y. Yuksel, N. El-Sheimy, A. Noureldin","doi":"10.1109/PLANS.2010.5507180","DOIUrl":"https://doi.org/10.1109/PLANS.2010.5507180","url":null,"abstract":"The accurate modeling of MEMS based inertial sensor errors is one of the most challenging tasks in the design of low cost navigation systems. Although the design process of inertial navigation systems mainly depends on the sensor model parameters, a standard procedure for error characterization has yet to be developed. In the first part of this study we present a new method of stability error modeling for MEMS based multi-IMU systems. The developed method uses correlation of low pass filtered sensor outputs to derive sensor error models. In the second part the effects of i) temperature ii) time and iii) G and vibration on MEMS units' outputs are analyzed using a series of laboratory test results. A method compensating for the effect of temperature variation and modeling for residual compensation error is also explained. Better sensor models obtained with the methods presented in this paper will lead to more robust navigation systems with low cost MEMS units.","PeriodicalId":94036,"journal":{"name":"IEEE/ION Position Location and Navigation Symposium : [proceedings]. IEEE/ION Position Location and Navigation Symposium","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2010-05-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"80168504","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2010-05-04DOI: 10.1109/PLANS.2010.5507298
T. Sathyan, M. Hedley
Accurate tracking of elite athletes for performance monitoring allows sports scientists to optimize training to gain a competitive edge. An important challenge in this application is that the maneuverability of the athletes is high and the traditional Kalman filter (KF) will not provide satisfactory tracking accuracy. Further, high update rates, of the order of tens of updates per second for each player, are often required and hence, the tracking algorithm considered should be computationally efficient. In this paper we propose a computationally efficient multiple model particle filter (MM-PF) algorithm for tracking maneuvering objects. It uses a Gaussian proposal density based on the unscented KF and a deterministic sampling technique and provides tracking accuracy similar to that of the augmented MM-PF, but with much lower computational cost. The performance of the proposed algorithm was verified using simulations and data collected in field trials. The trials were conducted with the Australian Institute of Sport using a localization system we have designed.
{"title":"Efficient particle filtering for tracking maneuvering objects","authors":"T. Sathyan, M. Hedley","doi":"10.1109/PLANS.2010.5507298","DOIUrl":"https://doi.org/10.1109/PLANS.2010.5507298","url":null,"abstract":"Accurate tracking of elite athletes for performance monitoring allows sports scientists to optimize training to gain a competitive edge. An important challenge in this application is that the maneuverability of the athletes is high and the traditional Kalman filter (KF) will not provide satisfactory tracking accuracy. Further, high update rates, of the order of tens of updates per second for each player, are often required and hence, the tracking algorithm considered should be computationally efficient. In this paper we propose a computationally efficient multiple model particle filter (MM-PF) algorithm for tracking maneuvering objects. It uses a Gaussian proposal density based on the unscented KF and a deterministic sampling technique and provides tracking accuracy similar to that of the augmented MM-PF, but with much lower computational cost. The performance of the proposed algorithm was verified using simulations and data collected in field trials. The trials were conducted with the Australian Institute of Sport using a localization system we have designed.","PeriodicalId":94036,"journal":{"name":"IEEE/ION Position Location and Navigation Symposium : [proceedings]. IEEE/ION Position Location and Navigation Symposium","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2010-05-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"77945340","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2010-05-04DOI: 10.1109/PLANS.2010.5507256
I. Progri
In this paper we discuss a wireless-enabled GPS indoor geolocation system which will provide centimeter level position level accuracy 99.999% of the time and meet the integrity requirements in the tough areas such as indoors, undergrounds, and in tunnels in direct response to President Obama's call for building nation's best E911 infrastructure emergency response system in the world.
{"title":"Wireless-enabled GPS indoor geolocation system","authors":"I. Progri","doi":"10.1109/PLANS.2010.5507256","DOIUrl":"https://doi.org/10.1109/PLANS.2010.5507256","url":null,"abstract":"In this paper we discuss a wireless-enabled GPS indoor geolocation system which will provide centimeter level position level accuracy 99.999% of the time and meet the integrity requirements in the tough areas such as indoors, undergrounds, and in tunnels in direct response to President Obama's call for building nation's best E911 infrastructure emergency response system in the world.","PeriodicalId":94036,"journal":{"name":"IEEE/ION Position Location and Navigation Symposium : [proceedings]. IEEE/ION Position Location and Navigation Symposium","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2010-05-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"86397311","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2010-05-04DOI: 10.1109/PLANS.2010.5507215
M. Lashley, D. Bevly, J. Hung
This paper analyzes the benefits offered by vector tracking loops relative to scalar tracking loops. A method for designing equivalent scalar and vector tracking loops is first introduced. The benefits of vector tracking are then determined by comparing the two equivalent algorithms. The improvements in signal tracking afforded by vector tracking are quantified in different scenarios using covariance analysis and Monte Carlo simulations. The vector tracking algorithms show a maximum improvement in tracking threshold of 6.2 dB with an eleven satellite constellation and a minimum improvement of 2.4 dB with a five satellite constellation. The results presented in this paper demonstrate the amount of improvement vector tracking can provide in different situations. Furthermore, the analysis technique used to design the equivalent tracking loops provides a simple way to compare other attributes of the algorithms, such as their multipath immunity and robustness.
{"title":"A valid comparison of vector and scalar tracking loops","authors":"M. Lashley, D. Bevly, J. Hung","doi":"10.1109/PLANS.2010.5507215","DOIUrl":"https://doi.org/10.1109/PLANS.2010.5507215","url":null,"abstract":"This paper analyzes the benefits offered by vector tracking loops relative to scalar tracking loops. A method for designing equivalent scalar and vector tracking loops is first introduced. The benefits of vector tracking are then determined by comparing the two equivalent algorithms. The improvements in signal tracking afforded by vector tracking are quantified in different scenarios using covariance analysis and Monte Carlo simulations. The vector tracking algorithms show a maximum improvement in tracking threshold of 6.2 dB with an eleven satellite constellation and a minimum improvement of 2.4 dB with a five satellite constellation. The results presented in this paper demonstrate the amount of improvement vector tracking can provide in different situations. Furthermore, the analysis technique used to design the equivalent tracking loops provides a simple way to compare other attributes of the algorithms, such as their multipath immunity and robustness.","PeriodicalId":94036,"journal":{"name":"IEEE/ION Position Location and Navigation Symposium : [proceedings]. IEEE/ION Position Location and Navigation Symposium","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2010-05-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"88088018","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2010-05-04DOI: 10.1109/PLANS.2010.5507138
J. Stauffer, Olivier Dietrich, B. Dutoit
Mid accuracy navigation and control systems require gyros and accelerometer to predict the position of a moving object in free space. Accelerometers are used to perform initial levelling and correct the gyro drift on the move. Typically, accelerometer with a range of ±10g with overall bias stability better than 2 mg and scale factor composite repeatability of better than 1000 ppm is required for the AHRS application. Current solutions in the market are mainly based on either vibrating quartz structures or traditional precision mechanics. These solutions suffer from high cost and fragility. MEMS is an inherently rugged technology and has great potential to bring forth novel solutions on the harsh environment and safety critical applications and enable new solutions due to its size, ruggedness and potential cost benefits. We report a new technological platform termed IRIS™ and a new accelerometer product based on that is called RS9000 family. RS9000 is interfaced with an open-loop electronic circuit and is comprised of a novel MEMS element designed specifically for high bias stability. RS9010 is a ±10g accelerometer with in run bias stability of better than 120µg, long term composite bias repeatability of better than 1.5mg, scale factor repeatability of 400ppm and vibration rectification of better than 65µg/g2. To our knowledge, this is the highest accuracy reported for a MEMS sensor operating in open-loop.
{"title":"RS9000, a novel MEMS accelerometer family for Mil/Aerospace and safety critical applications","authors":"J. Stauffer, Olivier Dietrich, B. Dutoit","doi":"10.1109/PLANS.2010.5507138","DOIUrl":"https://doi.org/10.1109/PLANS.2010.5507138","url":null,"abstract":"Mid accuracy navigation and control systems require gyros and accelerometer to predict the position of a moving object in free space. Accelerometers are used to perform initial levelling and correct the gyro drift on the move. Typically, accelerometer with a range of ±10g with overall bias stability better than 2 mg and scale factor composite repeatability of better than 1000 ppm is required for the AHRS application. Current solutions in the market are mainly based on either vibrating quartz structures or traditional precision mechanics. These solutions suffer from high cost and fragility. MEMS is an inherently rugged technology and has great potential to bring forth novel solutions on the harsh environment and safety critical applications and enable new solutions due to its size, ruggedness and potential cost benefits. We report a new technological platform termed IRIS™ and a new accelerometer product based on that is called RS9000 family. RS9000 is interfaced with an open-loop electronic circuit and is comprised of a novel MEMS element designed specifically for high bias stability. RS9010 is a ±10g accelerometer with in run bias stability of better than 120µg, long term composite bias repeatability of better than 1.5mg, scale factor repeatability of 400ppm and vibration rectification of better than 65µg/g2. To our knowledge, this is the highest accuracy reported for a MEMS sensor operating in open-loop.","PeriodicalId":94036,"journal":{"name":"IEEE/ION Position Location and Navigation Symposium : [proceedings]. IEEE/ION Position Location and Navigation Symposium","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2010-05-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"89080696","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2010-05-04DOI: 10.1109/PLANS.2010.5507234
N. Viandier, J. Marais, A. Rabaoui, E. Duflos
GNSS localization is accurate in clear environment where the pseudorange noise distributions are assumed white- Gaussian. But in constricted environment, e.g. dense urban environment, because of the signal reflections on the surrounding obstacles, this assumption cannot be used and accuracy and continuity of service of GNSS receivers are strongly degraded. To enhance the localization performances, we propose to use Dirichlet Process Mixtures to model the pseudorange error density at each acquisition step. Next, this estimation will be used in Rao-Blackwellized Particle Filter to compute the position. This sequential estimation is adapted when the noise is non-stationary. This approach will be tested on real data acquired by a single frequency receiver.
{"title":"Studies on DPM for the density estimation of pseudorange noises and evaluations on real data","authors":"N. Viandier, J. Marais, A. Rabaoui, E. Duflos","doi":"10.1109/PLANS.2010.5507234","DOIUrl":"https://doi.org/10.1109/PLANS.2010.5507234","url":null,"abstract":"GNSS localization is accurate in clear environment where the pseudorange noise distributions are assumed white- Gaussian. But in constricted environment, e.g. dense urban environment, because of the signal reflections on the surrounding obstacles, this assumption cannot be used and accuracy and continuity of service of GNSS receivers are strongly degraded. To enhance the localization performances, we propose to use Dirichlet Process Mixtures to model the pseudorange error density at each acquisition step. Next, this estimation will be used in Rao-Blackwellized Particle Filter to compute the position. This sequential estimation is adapted when the noise is non-stationary. This approach will be tested on real data acquired by a single frequency receiver.","PeriodicalId":94036,"journal":{"name":"IEEE/ION Position Location and Navigation Symposium : [proceedings]. IEEE/ION Position Location and Navigation Symposium","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2010-05-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"78265524","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2010-05-04DOI: 10.1109/PLANS.2010.5507207
E. Lohan
Composite Binary Offset Carrier (CBOC) modulation has been selected for the future Galileo signals to be used in mass-market applications. CBOC consists of a superposition of two sine Binary Offset Carrier (BOC) waveforms: a sine BOC(1,1) and a sine BOC(6,1) component. CBOC modulation has higher spectral components than BPSK modulation currently used in GPS, and therefore would require a wider bandwidth than what is currently used in mass-market GPS receivers in order to achieve the full performance. Fortunately, CBOC signals can be processed with a sine BOC(1,1) receiver, with lower bandwidth and sampling frequency needs. This paper analyzes how much deterioration (if any) in terms of tracking accuracy (i.e., code tracking error variance and robustness to multipath) occurs when we process a CBOC signal with a reference sine BOC(1,1) receiver (instead of processing it with a CBOC receiver). The analysis focuses especially on narrowband receiver cases (i.e., front-end double-sided bandwidth lower or equal to 5 MHz), which are the cases of interest in mass-market applications. Analytical closed-form expressions of signal Power Spectral Densities (PSD) are derived by taking into account the rate differences of the two components of CBOC signal, and tracking results are analyzed in terms of tracking error variances and multipath error envelopes.
{"title":"Analytical performance of CBOC-modulated Galileo E1 signal using sine BOC(1,1) receiver for mass-market applications","authors":"E. Lohan","doi":"10.1109/PLANS.2010.5507207","DOIUrl":"https://doi.org/10.1109/PLANS.2010.5507207","url":null,"abstract":"Composite Binary Offset Carrier (CBOC) modulation has been selected for the future Galileo signals to be used in mass-market applications. CBOC consists of a superposition of two sine Binary Offset Carrier (BOC) waveforms: a sine BOC(1,1) and a sine BOC(6,1) component. CBOC modulation has higher spectral components than BPSK modulation currently used in GPS, and therefore would require a wider bandwidth than what is currently used in mass-market GPS receivers in order to achieve the full performance. Fortunately, CBOC signals can be processed with a sine BOC(1,1) receiver, with lower bandwidth and sampling frequency needs. This paper analyzes how much deterioration (if any) in terms of tracking accuracy (i.e., code tracking error variance and robustness to multipath) occurs when we process a CBOC signal with a reference sine BOC(1,1) receiver (instead of processing it with a CBOC receiver). The analysis focuses especially on narrowband receiver cases (i.e., front-end double-sided bandwidth lower or equal to 5 MHz), which are the cases of interest in mass-market applications. Analytical closed-form expressions of signal Power Spectral Densities (PSD) are derived by taking into account the rate differences of the two components of CBOC signal, and tracking results are analyzed in terms of tracking error variances and multipath error envelopes.","PeriodicalId":94036,"journal":{"name":"IEEE/ION Position Location and Navigation Symposium : [proceedings]. IEEE/ION Position Location and Navigation Symposium","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2010-05-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"75929819","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2010-05-04DOI: 10.1109/PLANS.2010.5507268
M. A. Enright
Navigation in low signal-to-noise ratio (SNR) environments continues to be an extremely challenging problem for GNSS. Effects such as multipath fading, shadowing, jamming of the waveform not only greatly limit the navigation accuracy, but also increase the outage probability that occurs when the received signal level falls below the minimum threshold. Newer navigation approaches have focused on employing terrestrial signals that maintain higher signal power such as digital television (DTV), cellular, etc. These are referred to as signals of opportunity (SoOP). The focus of this research is using these signals in a time difference of arrival (TDOA) cooperative navigation network. A major problem arises with relation to convergence of the positioning algorithm for this type of network. To address this problem, our research studies this problem from a different perspective. Here we will pose the problem as a convex optimization problem and address it as such. The main idea being that if the problem is structured in this form, we can use this well understood area to develop algorithms for faster convergence with respect to cooperative navigation. As such, this research is a combination of analytical analysis, algorithm development, and simulation results that describe performance under certain conditions.
{"title":"An analysis of advanced optimization algorithms for multiuser cooperative navigation","authors":"M. A. Enright","doi":"10.1109/PLANS.2010.5507268","DOIUrl":"https://doi.org/10.1109/PLANS.2010.5507268","url":null,"abstract":"Navigation in low signal-to-noise ratio (SNR) environments continues to be an extremely challenging problem for GNSS. Effects such as multipath fading, shadowing, jamming of the waveform not only greatly limit the navigation accuracy, but also increase the outage probability that occurs when the received signal level falls below the minimum threshold. Newer navigation approaches have focused on employing terrestrial signals that maintain higher signal power such as digital television (DTV), cellular, etc. These are referred to as signals of opportunity (SoOP). The focus of this research is using these signals in a time difference of arrival (TDOA) cooperative navigation network. A major problem arises with relation to convergence of the positioning algorithm for this type of network. To address this problem, our research studies this problem from a different perspective. Here we will pose the problem as a convex optimization problem and address it as such. The main idea being that if the problem is structured in this form, we can use this well understood area to develop algorithms for faster convergence with respect to cooperative navigation. As such, this research is a combination of analytical analysis, algorithm development, and simulation results that describe performance under certain conditions.","PeriodicalId":94036,"journal":{"name":"IEEE/ION Position Location and Navigation Symposium : [proceedings]. IEEE/ION Position Location and Navigation Symposium","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2010-05-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"83800452","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2010-05-04DOI: 10.1109/PLANS.2010.5507214
F. Bastia, L. Deambrogio, C. Palestini, M. Villanti, R. Pedone, G. Corazza
This paper tackles the problem of fast acquisition for dual band GNSS receiver. In particular, a novel technique is proposed based on the exploitation of the hierarchical structure of the Galileo E1 and E5 Open Service signals. The new procedure is based on the information exchange between the acquisition blocks of the two bands, and on the reduction of the uncertainty region in one band when the signal in the other one is already acquired. Numerical evaluation shows that the proposed method allows to achieve good performance in terms of Mean Acquisition Time with respect to classical stand alone acquisition while guaranteeing at the same time a significant complexity reduction.
{"title":"Hierarchical code acquisition for dual band GNSS receivers","authors":"F. Bastia, L. Deambrogio, C. Palestini, M. Villanti, R. Pedone, G. Corazza","doi":"10.1109/PLANS.2010.5507214","DOIUrl":"https://doi.org/10.1109/PLANS.2010.5507214","url":null,"abstract":"This paper tackles the problem of fast acquisition for dual band GNSS receiver. In particular, a novel technique is proposed based on the exploitation of the hierarchical structure of the Galileo E1 and E5 Open Service signals. The new procedure is based on the information exchange between the acquisition blocks of the two bands, and on the reduction of the uncertainty region in one band when the signal in the other one is already acquired. Numerical evaluation shows that the proposed method allows to achieve good performance in terms of Mean Acquisition Time with respect to classical stand alone acquisition while guaranteeing at the same time a significant complexity reduction.","PeriodicalId":94036,"journal":{"name":"IEEE/ION Position Location and Navigation Symposium : [proceedings]. IEEE/ION Position Location and Navigation Symposium","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2010-05-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"83982775","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2010-05-04DOI: 10.1109/PLANS.2010.5507286
M. De Agostino, A. Lingua, F. Nex, M. Piras
Over the last two years, the Geomatics research group at the Politecnico di Torino has developed a Low Cost System, in which only low cost sensors are involved. The system is equipped with webcams, an MEMS IMU and up to four GNSS receivers. During this development, several (non negligible) problems have been solved in order to obtain good quality after the data processing. One of the main problems of the low cost systems concerns the occurrence of GNSS outages. In this case, the IMU can only estimate the trajectory and the attitude of the vehicle for short periods. For this reason, considering the high number of frames available (about 3–5 frame per second, fps), a vision-based navigation (VBN) approach, called GIMPhI (GNSS IMU and PHotogrammetry Integration), has been adopted and tested. The navigation solutions have been refined by means of integration with a photogrammetric approach (bundle block adjustment) and a rigorous weight matrix has been adopted in order to consider the different accuracies of the various sensor observations (GNSS, IMU and images). A detailed description of this integrated approach is presented in this paper. The first tests and the achieved results are then shown in order to evaluate the reliability of the proposed approach.
{"title":"GIMPhI: A novel vision-based navigation approach for low cost MMS","authors":"M. De Agostino, A. Lingua, F. Nex, M. Piras","doi":"10.1109/PLANS.2010.5507286","DOIUrl":"https://doi.org/10.1109/PLANS.2010.5507286","url":null,"abstract":"Over the last two years, the Geomatics research group at the Politecnico di Torino has developed a Low Cost System, in which only low cost sensors are involved. The system is equipped with webcams, an MEMS IMU and up to four GNSS receivers. During this development, several (non negligible) problems have been solved in order to obtain good quality after the data processing. One of the main problems of the low cost systems concerns the occurrence of GNSS outages. In this case, the IMU can only estimate the trajectory and the attitude of the vehicle for short periods. For this reason, considering the high number of frames available (about 3–5 frame per second, fps), a vision-based navigation (VBN) approach, called GIMPhI (GNSS IMU and PHotogrammetry Integration), has been adopted and tested. The navigation solutions have been refined by means of integration with a photogrammetric approach (bundle block adjustment) and a rigorous weight matrix has been adopted in order to consider the different accuracies of the various sensor observations (GNSS, IMU and images). A detailed description of this integrated approach is presented in this paper. The first tests and the achieved results are then shown in order to evaluate the reliability of the proposed approach.","PeriodicalId":94036,"journal":{"name":"IEEE/ION Position Location and Navigation Symposium : [proceedings]. IEEE/ION Position Location and Navigation Symposium","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2010-05-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"89926498","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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