scholarly journals Implementation and performance evaluation of an inertial navigation system/global navigation satellite system real‐time kinematic Ntrip navigation system aided by a robot operating system‐based emulated odometer for high‐accuracy land vehicle navigation in urban environments

2020 ◽  
Vol 2 (2) ◽  
Author(s):  
Jorge P. M. Galdames ◽  
Carlos E. Milhor ◽  
Daniel V. Magalhães ◽  
Glauco A. P. Caurin ◽  
Marcelo Becker
Keyword(s):  
Navigation System ◽  
Inertial Navigation System ◽  
Satellite System ◽  
High Accuracy ◽  
Urban Environments ◽  
Navigation Satellite ◽  
Robot Operating System ◽  
Land Vehicle Navigation ◽  
And Performance ◽  
Global Navigation Satellite

scholarly journals Background and Recent Advances in the Locata Terrestrial Positioning and Timing Technology

Sensors ◽  
2019 ◽  
Vol 19 (8) ◽  
pp. 1821 ◽  
Author(s):  
Chris Rizos ◽  
Ling Yang
Keyword(s):  
Literature Review ◽  
Global Navigation Satellite System ◽  
Satellite System ◽  
High Accuracy ◽  
Urban Environments ◽  
Navigation Satellite ◽  
Positioning Systems ◽  
Comprehensive Literature Review ◽  
The World ◽  
Global Navigation Satellite

Global Navigation Satellite System (GNSS) is the most widely used Positioning, Navigation, and Timing (PNT) technology in the world today, but it suffers some major constraints. Locata is a terrestrial PNT technology that can be considered as a type of localised “constellation”, which is able to provide high-accuracy PNT coverage where GNSS cannot be used. This paper presents a comprehensive literature review of the Locata technology and its applications. It seeks to answer questions, such as: (1) What is Locata and how does it work? (2) What makes Locata unique compared with other terrestrial positioning systems? (3) How has Locata been used in different applications for accurate PNT? (4) What are the current challenging issues that may restrict its further adoption for custom-grade navigation in urban environments?

An improved integrated navigation method based on RINS, GNSS and kinematics for port heavy-duty AGV

2020 ◽  
Vol 234 (8) ◽  
pp. 2135-2153
Author(s):  
Zhuang Fu ◽  
Xin Feng ◽  
Xiaoming Duan ◽  
Zeyu Fu
Keyword(s):  
Global Navigation Satellite System ◽  
Navigation System ◽  
Inertial Navigation System ◽  
Satellite System ◽  
Automated Guided Vehicle ◽  
Navigation Satellite ◽  
Integrated Navigation ◽  
Heavy Duty ◽  
Global Navigation ◽  
Global Navigation Satellite

The current navigation methods for port heavy-duty automated guided vehicle mainly include the antenna radar-transponder navigation and the global navigation satellite system. However, the former has a huge cost and the latter will generate multi-path error easily. To avoid these problems, an improved integrated navigation method based on single-axis rotating inertial navigation system, global navigation satellite system and kinematics is proposed. First, the rotating inertial navigation system/ global navigation satellite system and rotating inertial navigation system/Kinematics integrated navigation methods generate corresponding estimates and filtering error covariances through their respective extended Kalman filter filters, and then the two sets of results are fused by the optimal weighted voting fusion method. The proposed method is applied to a heavy-duty automated guided vehicle for engineering verification. Without multi-path error, the navigation accuracy is 1.8–2.98 times higher than that of the traditional global navigation satellite system navigation. In the case of multi-path error, the improved method still has high fault tolerance and high navigation accuracy. The accuracy of this method satisfies the requirements of port heavy-duty automated guided vehicle, which can greatly reduce the number of transponders and has high practical value.

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