Topic
GPS/INS
About: GPS/INS is a research topic. Over the lifetime, 3554 publications have been published within this topic receiving 62784 citations.
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TL;DR: Indoor tests show that the proposed Map/INS/Wi-Fi integrated system based on a cascaded Particle/Kalman filter framework structure can effectively reduce the accumulation of positioning errors of a stand-alone Inertial Navigation System (INS), and provide a stable, continuous and reliable indoor location service.
Abstract: In this research, a new Map/INS/Wi-Fi integrated system for indoor location-based service (LBS) applications based on a cascaded Particle/Kalman filter framework structure is proposed. Two-dimension indoor map information, together with measurements from an inertial measurement unit (IMU) and Received Signal Strength Indicator (RSSI) value, are integrated for estimating positioning information. The main challenge of this research is how to make effective use of various measurements that complement each other in order to obtain an accurate, continuous, and low-cost position solution without increasing the computational burden of the system. Therefore, to eliminate the cumulative drift caused by low-cost IMU sensor errors, the ubiquitous Wi-Fi signal and non-holonomic constraints are rationally used to correct the IMU-derived navigation solution through the extended Kalman Filter (EKF). Moreover, the map-aiding method and map-matching method are innovatively combined to constrain the primary Wi-Fi/IMU-derived position through an Auxiliary Value Particle Filter (AVPF). Different sources of information are incorporated through a cascaded structure EKF/AVPF filter algorithm. Indoor tests show that the proposed method can effectively reduce the accumulation of positioning errors of a stand-alone Inertial Navigation System (INS), and provide a stable, continuous and reliable indoor location service.
32 citations
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29 Nov 1999
TL;DR: In this article, a two-way ranging navigation system is used to estimate the range along the path from source to destination by measuring the time delay during round-trip communication via satellite.
Abstract: A method and system for using two-way ranging navigation to accurately determine the range along the path from source to destination by measuring the time delay during round-trip communication via satellite. The two-way ranging navigation measurements are used as calibration references, thereby improving the positioning accuracy of GPS. The system includes GPS and a two-way ranging navigation system for taking position measurements of a target. A correction factor is determined as a function of the measurements and the GPS position is adjusted by the correction factor. The method for calibrating GPS using two-way ranging navigation involves taking a two-way ranging navigation measurement and a GPS measurement of a target, determining a correction factor as a function of the measurements, and correcting the GPS position by taking a second GPS measurement and adjusting it by the correction factor.
32 citations
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TL;DR: In this paper, the authors present a detailed review of the error models for INS/GPS integration and focus in detail on designing filtering methods for improving attitude accuracy in the bandwidth in which an inertial system does not benefit from frequent GPS position/velocity updates, including a spectral technique for dither spike removal and a class of low-pass finite-impulse response (FIR) filters operating in forward/backward manner.
Abstract: Stringent requirements on the accuracy of attitude determi- nation are currently a major challenge for strapdown INS/GPS integration, which is at the core of self-contained airborne remote sensing and mapping systems. This paper reviews the error models for INS/GPS integration and focuses i n detail on designingfiltering methodsfor improvingattitudeaccuracyin the bandwidth in which an inertial system does not benefit from frequent GPS position/velocity updates. Several fltering methods are designed based on the spec- tral analysis of the raw inertial signal in a dynamic environ- ment. These include a spectral technique for dither spike removal and a class of low-pass finite-impulse-response (FIR] filters operatinginforward/backward mannerfor achieving zero phase distortion. The orientation performance of the whole system with different filters i s evaluated b y comparing it to the "true" attitude information provided by a photo- grammetric block adjustment. Results show clearly that the choice of an appropriatefilter is decisivefor attitude accuracy. Overall, the INS/GPS integration combined with the most suitable pre-filtering method agrees with the external orien- tationreferenceto0.005"(19')RMS overthewholetestperiod, while the flight-line consistency is typically 0.003" (1U')RMS. The best filter in the comparison has an i?MS seven times smaller than the Butterworth filter which i s frequently applied i n the industrial designs of INS.
32 citations
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TL;DR: In this article, the authors presented a high-accuracy, multirate inertial navigation system integrating global positioning system (GPS) measurements and advanced vector aiding techniques for precise position and attitude estimation of autonomous surface crafts (ASCs).
Abstract: This paper presents a high-accuracy, multirate inertial navigation system (INS) integrating global positioning system (GPS) measurements and advanced vector aiding techniques for precise position and attitude estimation of autonomous surface crafts (ASCs). Designed to be implemented and tested in the DELFIMx catamaran developed at ISR/IST, the navigation system comprises an advanced inertial integration algorithm to account for coning and sculling motions, combined with an extended Kalman filter (EKF) for inertial sensor error compensation. Aiding gravitational observations are optimally exploited in the EKF, by deriving a sensor integration technique that takes into account the vehicle's dynamics bandwidth information to properly trace measurement disturbances and extract the relevant sensor information. The proposed aiding technique and the performance of the navigation system are assessed using experimental data obtained at seatrials with a low-cost hardware architecture installed on-board the DELFIMx platform. It is shown that the low frequency information embodied in pendular measurements improves the compensation of inertial sensor bias and noise, and consequently enhances the performance of position and attitude estimation. The overall improvements obtained with the vector aiding observations are also illustrated for the case of GPS signal outage, emphasizing the extended autonomy of the navigation system with respect to position aiding.
32 citations
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05 May 2008TL;DR: The design decisions made in building the tightly-coupled position, velocity, and attitude estimator used as a position feedback signal for autonomous navigation in Cornell University's 2007 DARPA urban challenge robot, 'Skynet,' are analyzed.
Abstract: This paper analyzes the design decisions made in building the tightly-coupled position, velocity, and attitude estimator used as a position feedback signal for autonomous navigation in Cornell University's 2007 DARPA urban challenge robot, 'Skynet.' A statistical sensitivity analysis is conducted on Skynet's estimator by examining the changes in its output as critical design decisions are reversed. The effects of five design decisions are considered: map aiding via computer vision algorithms, inclusion of differential corrections, filter integrity monitoring, WAAS augmentation, and inclusion of carrier phases. The effects of extensive signal blackouts are also considered. All estimator variants are scrutinized both in a statistical sense and in a practical sense, by comparing each variant's performance on logged data recorded at the 2007 DARPA urban challenge.
32 citations