Navigation in GNSS Degraded Urban Areas paper.
Abstract:
Global Navigation Satellite Systems (GNSS) integrated with multiple sensors have been widely applied in many Intelligent Transport Systems (ITS). Intelligent vehicles, in...Show MoreMetadata
Abstract:
Global Navigation Satellite Systems (GNSS) integrated with multiple sensors have been widely applied in many Intelligent Transport Systems (ITS). Intelligent vehicles, increasingly a key component of the future transport system, require high-performance positioning, navigation and timing (PNT) technologies. This cannot be achieved by current 2-dimensional systems. This is because accurate comprehensive state information (time, position, derivatives and attitude) is required to estimate amongst others, the vehicle's power usage as well as to enable precise environmental mapping based on accurate state of the relevant sensors and path planning including in complex multi-level intersections. Because of the multipath effects and signal interruption in urban environments, comprehensive vehicle state estimation is not always available at the required level of performance. To address this issue, we propose an effective method to integrate the Inertial Measurement Unit (IMU), Global Positioning System (GPS) and monocular Visual Odometry (VO) for urban vehicle navigation. A robust Extended Kalman Filter (EKF) based two-step integration algorithm is developed with a non-holonomic constraint (NHC). In particular, the NHC is not only applied on the offline VO error modelling process, but also on the online sensor fusion process to improve the 3D vehicle state estimation. The proposed IMU/GPS/VO integration scheme is tested with various sensor levels in different urban environments. The results show that the proposed IMU/GPS/VO fusion algorithm could deliver a 3D RMSE of 3.285m, which outperforms the other conventional candidate fusion schemes in the noisy GNSS urban areas. The further test in the urban with outages has demonstrated that the proposed algorithm delivers an overall 3D RMSE of 1.290m, 0.073m/s and 0.486 degrees, in terms of positioning, velocity and attitude, respectively. It is also demonstrated that the proposed low-cost VO integration with IMU/GPS could achieve ...
Navigation in GNSS Degraded Urban Areas paper.
Published in: IEEE Sensors Journal ( Volume: 20, Issue: 17, 01 September 2020)
Funding Agency:
State Key Laboratory of Geo-Information Engineering, Xi’an Research Institute of Surveying and Mapping, Xi’an, China
College of Civil Aviation, Nanjing University of Aeronautics and Astronautics, Nanjing, China
Rui Sun (Member, IEEE) received the M.Sc. degree in satellite positioning technology from the University of Nottingham and the Ph.D. degree in intelligent transport systems (ITS) from the Imperial College Engineering Geomatics Group (ICEGG), Imperial College London. She is currently an Associate Professor with the College of Civil Aviation, Nanjing University of Aeronautics and Astronautics, Nanjing, Jiangsu, China. Her r...Show More
Rui Sun (Member, IEEE) received the M.Sc. degree in satellite positioning technology from the University of Nottingham and the Ph.D. degree in intelligent transport systems (ITS) from the Imperial College Engineering Geomatics Group (ICEGG), Imperial College London. She is currently an Associate Professor with the College of Civil Aviation, Nanjing University of Aeronautics and Astronautics, Nanjing, Jiangsu, China. Her r...View more
State Key Laboratory of Geo-Information Engineering, Xi’an Research Institute of Surveying and Mapping, Xi’an, China
Yuanxi Yang received the Ph.D. degree from the Wuhan Institute of Geodesy and Geophysics, Chinese Academy of Science. He is currently a Professor of geodesy and navigation with the China National Administration of GNSS and Applications (CNAGA), and also the director of the State Key Laboratory of Geo-Information Engineering, Xi’an Research Institute of Surveying and Mapping. His research interests mainly include geodetic ...Show More
Yuanxi Yang received the Ph.D. degree from the Wuhan Institute of Geodesy and Geophysics, Chinese Academy of Science. He is currently a Professor of geodesy and navigation with the China National Administration of GNSS and Applications (CNAGA), and also the director of the State Key Laboratory of Geo-Information Engineering, Xi’an Research Institute of Surveying and Mapping. His research interests mainly include geodetic ...View more
Department of Geomatics Engineering, National Cheng-Kung University, Tainan, Taiwan
Kai-Wei Chiang received the B.Sc. and M.Sc. degrees in geomatics engineering from National Cheng Kung University and the Ph.D. degree from the Department of Geomatics Engineering, University of Calgary. He has 13-years’ experience in geomatics engineering, formerly known as Surveying Engineering. He is currently a Professor with the Department of Geomatics, National Cheng Kung University, Taiwan. His expertise includes mu...Show More
Kai-Wei Chiang received the B.Sc. and M.Sc. degrees in geomatics engineering from National Cheng Kung University and the Ph.D. degree from the Department of Geomatics Engineering, University of Calgary. He has 13-years’ experience in geomatics engineering, formerly known as Surveying Engineering. He is currently a Professor with the Department of Geomatics, National Cheng Kung University, Taiwan. His expertise includes mu...View more
Department of Geomatics and Land-administration, Hanoi University of Mining and Geology, Hanoi, Vietnam
Thanh-Trung Duong received the Ph.D. degree from the Department of Geomatics, National Cheng Kung University, Taiwan. He is currently a Lecturer with the Department of Geomatics and Land-administration, Hanoi University of Mining and Geology, Vietnam. He is interested in the navigation and positioning technologies such as inertial navigation and kinematic positioning.
Thanh-Trung Duong received the Ph.D. degree from the Department of Geomatics, National Cheng Kung University, Taiwan. He is currently a Lecturer with the Department of Geomatics and Land-administration, Hanoi University of Mining and Geology, Vietnam. He is interested in the navigation and positioning technologies such as inertial navigation and kinematic positioning.View more
Department of Geomatics Engineering, National Cheng-Kung University, Tainan, Taiwan
Kuan-Ying Lin is currently pursuing the Ph.D. degree with the Department of Geomatics, National Cheng Kung University, Taiwan. His current research topics include mobile mapping, multicamera calibration, visual odometry (VO), and global navigation satellite system/inertial navigation system (GNSS/INS) integration.
Kuan-Ying Lin is currently pursuing the Ph.D. degree with the Department of Geomatics, National Cheng Kung University, Taiwan. His current research topics include mobile mapping, multicamera calibration, visual odometry (VO), and global navigation satellite system/inertial navigation system (GNSS/INS) integration.View more
Department of Geomatics Engineering, National Cheng-Kung University, Tainan, Taiwan
Guang-Je Tsai received the bachelor’s degree from the Department of Geomatics, National Cheng Kung University, Taiwan, where he is currently pursuing the Ph.D. degree. He is interested in the next generation’s navigation and positioning technologies such as inertial navigation, simultaneous localization and mapping (SLAM), and mobile multisensor systems.
Guang-Je Tsai received the bachelor’s degree from the Department of Geomatics, National Cheng Kung University, Taiwan, where he is currently pursuing the Ph.D. degree. He is interested in the next generation’s navigation and positioning technologies such as inertial navigation, simultaneous localization and mapping (SLAM), and mobile multisensor systems.View more
Contents State Key Laboratory of Geo-Information Engineering, Xi’an Research Institute of Surveying and Mapping, Xi’an, China
College of Civil Aviation, Nanjing University of Aeronautics and Astronautics, Nanjing, China
Rui Sun (Member, IEEE) received the M.Sc. degree in satellite positioning technology from the University of Nottingham and the Ph.D. degree in intelligent transport systems (ITS) from the Imperial College Engineering Geomatics Group (ICEGG), Imperial College London. She is currently an Associate Professor with the College of Civil Aviation, Nanjing University of Aeronautics and Astronautics, Nanjing, Jiangsu, China. Her research interests include seamless positioning and navigation in challenging environments.
Rui Sun (Member, IEEE) received the M.Sc. degree in satellite positioning technology from the University of Nottingham and the Ph.D. degree in intelligent transport systems (ITS) from the Imperial College Engineering Geomatics Group (ICEGG), Imperial College London. She is currently an Associate Professor with the College of Civil Aviation, Nanjing University of Aeronautics and Astronautics, Nanjing, Jiangsu, China. Her research interests include seamless positioning and navigation in challenging environments.View more
State Key Laboratory of Geo-Information Engineering, Xi’an Research Institute of Surveying and Mapping, Xi’an, China
Yuanxi Yang received the Ph.D. degree from the Wuhan Institute of Geodesy and Geophysics, Chinese Academy of Science. He is currently a Professor of geodesy and navigation with the China National Administration of GNSS and Applications (CNAGA), and also the director of the State Key Laboratory of Geo-Information Engineering, Xi’an Research Institute of Surveying and Mapping. His research interests mainly include geodetic data processing, geodetic coordinate system, crustal deformation analysis, and integrated navigation. He was honored as an Academic Member of Chinese Academy of Science in 2007.
Yuanxi Yang received the Ph.D. degree from the Wuhan Institute of Geodesy and Geophysics, Chinese Academy of Science. He is currently a Professor of geodesy and navigation with the China National Administration of GNSS and Applications (CNAGA), and also the director of the State Key Laboratory of Geo-Information Engineering, Xi’an Research Institute of Surveying and Mapping. His research interests mainly include geodetic data processing, geodetic coordinate system, crustal deformation analysis, and integrated navigation. He was honored as an Academic Member of Chinese Academy of Science in 2007.View more
Department of Geomatics Engineering, National Cheng-Kung University, Tainan, Taiwan
Kai-Wei Chiang received the B.Sc. and M.Sc. degrees in geomatics engineering from National Cheng Kung University and the Ph.D. degree from the Department of Geomatics Engineering, University of Calgary. He has 13-years’ experience in geomatics engineering, formerly known as Surveying Engineering. He is currently a Professor with the Department of Geomatics, National Cheng Kung University, Taiwan. His expertise includes multisensor systems, mobile mapping systems, real-time static and kinematic positioning, digital photogrammetry, and their applications in mapping and geospatial information system.
Kai-Wei Chiang received the B.Sc. and M.Sc. degrees in geomatics engineering from National Cheng Kung University and the Ph.D. degree from the Department of Geomatics Engineering, University of Calgary. He has 13-years’ experience in geomatics engineering, formerly known as Surveying Engineering. He is currently a Professor with the Department of Geomatics, National Cheng Kung University, Taiwan. His expertise includes multisensor systems, mobile mapping systems, real-time static and kinematic positioning, digital photogrammetry, and their applications in mapping and geospatial information system.View more
Department of Geomatics and Land-administration, Hanoi University of Mining and Geology, Hanoi, Vietnam
Thanh-Trung Duong received the Ph.D. degree from the Department of Geomatics, National Cheng Kung University, Taiwan. He is currently a Lecturer with the Department of Geomatics and Land-administration, Hanoi University of Mining and Geology, Vietnam. He is interested in the navigation and positioning technologies such as inertial navigation and kinematic positioning.
Thanh-Trung Duong received the Ph.D. degree from the Department of Geomatics, National Cheng Kung University, Taiwan. He is currently a Lecturer with the Department of Geomatics and Land-administration, Hanoi University of Mining and Geology, Vietnam. He is interested in the navigation and positioning technologies such as inertial navigation and kinematic positioning.View more
Department of Geomatics Engineering, National Cheng-Kung University, Tainan, Taiwan
Kuan-Ying Lin is currently pursuing the Ph.D. degree with the Department of Geomatics, National Cheng Kung University, Taiwan. His current research topics include mobile mapping, multicamera calibration, visual odometry (VO), and global navigation satellite system/inertial navigation system (GNSS/INS) integration.
Kuan-Ying Lin is currently pursuing the Ph.D. degree with the Department of Geomatics, National Cheng Kung University, Taiwan. His current research topics include mobile mapping, multicamera calibration, visual odometry (VO), and global navigation satellite system/inertial navigation system (GNSS/INS) integration.View more
Department of Geomatics Engineering, National Cheng-Kung University, Tainan, Taiwan
Guang-Je Tsai received the bachelor’s degree from the Department of Geomatics, National Cheng Kung University, Taiwan, where he is currently pursuing the Ph.D. degree. He is interested in the next generation’s navigation and positioning technologies such as inertial navigation, simultaneous localization and mapping (SLAM), and mobile multisensor systems.
Guang-Je Tsai received the bachelor’s degree from the Department of Geomatics, National Cheng Kung University, Taiwan, where he is currently pursuing the Ph.D. degree. He is interested in the next generation’s navigation and positioning technologies such as inertial navigation, simultaneous localization and mapping (SLAM), and mobile multisensor systems.View more
