Analysis of a Navigation System based on Partially Tight Integration of IMU -Visual Odometry with Loosely Coupled GPS

2016 ◽  
Author(s):  
M. Sahmoudi ◽  
N. Ramuni
Keyword(s):  
Navigation System ◽  
Visual Odometry ◽  
Loosely Coupled ◽  
Tight Integration

scholarly journals Integration of GNSS-IMU for increasing the observation accuracy in Condensed Areas (Infrastructure and Forest Canopies)

2019 ◽  
Vol 94 ◽  
pp. 03015
Author(s):  
Mokhamad Nur Cahyadi ◽  
Irene Rwabudandi
Keyword(s):  
Kalman Filter ◽  
Navigation System ◽  
Kalman Filters ◽  
Measurement Unit ◽  
Gps Receiver ◽  
Satellite Navigation System ◽  
Loosely Coupled ◽  
Advantages And Disadvantages ◽  
Gps Satellites ◽  
Tightly Coupled

Position determination using satellite navigation system has grown significantly. It provides geospatial with global coverage called GNSS (Global Navigation System Satellite). GNSS satellites consists of GLONASS, GPS (Global positioning system) and Galileo.GPS is the most commonly used system and it is known to its capability to determine 3D position on the surface of the earth. In order to determine the position, a GPS receiver must be able to receive signals from at least four GPS satellites. However, the determination of position in condensed areas such as tunnels, area surrounded by high rise buildings, highly forested and in other closely-knit areas is not achieved because satellite signals cannot reach the receiver in the above-mentioned areas and also others where the signals are reflected before being received by a GPS receiver. In this paper, we present the algorithm to fuse GPS and the inertial measurement unit (IMU) to enable positioning in the above-mentioned Condensed Areas. The standard deviations of the two measurements show that GPS-IMU is better than GPS alone, the standard deviation when satellite outages occurred is - 4.57475 for GPS-IMU measurements and 0.218675 for GPS observations. We presented the results in graphics and it shows that GPS measurements are easily disturbed by external influence such as multipath but GPS-IMU graphic is continuous and robust. The advantages and disadvantages of GPS and INS are complementary and make them work together to enable the accurate measurements in the areas mentioned above. Integration of INS and GNSS can be classified into three types, loosely coupled Kalman filter, tightly coupled Kalman filters and ultratight coupled Kalman filter. In this research we used loosely coupled Kalman filter and tightly coupled Kalman filters to combine GPS and INS in one system.

Embedded Micro Inertial Navigation System

2012 ◽  
Vol 249-250 ◽  
pp. 1234-1246 ◽  
Author(s):  
Krzysztof Daniec ◽  
Karol Jędrasiak ◽  
Roman Koteras ◽  
Aleksander Nawrat
Keyword(s):  
Navigation System ◽  
Inertial Navigation System ◽  
Inertial Navigation ◽  
Ground Vehicles ◽  
Fusion Algorithm ◽  
Loosely Coupled ◽  
Navigation Algorithm ◽  
University Of Technology ◽  
Point To Point ◽  
And Robotics

This paper presents Embedded Inertial Navigation System designed and manufactured by the Department of Automatic Control and Robotics in Silesian University of Technology, Gliwice, Poland. Designed system is currently one of the smallest in the world. Within it there is implemented INS-GPS loosely coupled data fusion algorithm and point-to-point navigation algorithm. Both the algorithms and the constructed hardware were tested using two unmanned ground vehicles varying in size. Acquired results of those successful tests are presented.

scholarly journals Model of the inertial and optical navigation system of the unmanned aerial vehicle

2020 ◽  
pp. 17-25
Author(s):  
A. M. Kovalenko ◽  
A. A. Shejnikov
Keyword(s):  
Unmanned Aerial Vehicle ◽  
Navigation System ◽  
Short Range ◽  
Inertial Navigation System ◽  
Inertial Navigation ◽  
Optical Navigation ◽  
Loosely Coupled ◽  
Systematic Component ◽  
Aerial Vehicle ◽  
Navigational Systems

In article approaches to creation of the complex inertial and optical navigation system of the short-range tactical unmanned aerial vehicle are considered. Algorithms constant and periodic (in intermediate points of a route) are offered correction of the platformless onboard inertial navigation system. At integration of information on parameters of the movement of the unmanned aerial vehicle (received from the considered systems) the invariant loosely coupled scheme of data processing on the basis of the expanded filter of Kallman was used that allowed to lower significantly a systematic component of an error of the platformless inertial navigation system. Advantages of the complex inertial and optical navigation system when ensuring flight of the unmanned aerial vehicle in an area of coverage of means of radio-electronic fight of the opponent are shown. The results of modeling confirming a possibility of ensuring precision characteristics of the inertial and optical navigation system in the absence of signals of satellite radio navigational systems are presented.

scholarly journals Analysis of structure and algorithm features of new type strapdown gravimetric navigation system

2020 ◽  
Vol 12 (S) ◽  
pp. 5-19 ◽  
Author(s):  
Alexander A. AFONIN ◽  
Andrey S. SULAKOV
Keyword(s):  
Navigation System ◽  
Satellite Navigation ◽  
Functional Redundancy ◽  
Raw Data ◽  
Satellite Navigation System ◽  
Loosely Coupled ◽  
Hardware Configuration ◽  
New Type ◽  
Vector Gravimetry ◽  
Sufficient Precision

The paper presents a structure and improved functional algorithms of a strap-down satellite inertial gravimetric navigation system of minimum hardware configuration. Various options of traditional loosely coupled and a new modification of closely coupled architectures were studied, which allowed for authors achieving sufficient precision of vector gravimetry and finding parameters of orientation and navigation. There were also studied potentials of increased accuracy and reliability of SGS as a component of functionally redundant cone-shaped accelerometer modules. The paper described the specifics of use of functional redundancy inertial measuring units. A specific version of a future modification of a closely related architecture is proposed, which opens up additional possibilities for evaluating and correcting errors of a satellite navigation system, which leads to an increase in the overall accuracy and reliability of determining orientation, navigation, and gravimetric parameters. The advantages of use of streamlined redundant raw data sensors were estimated qualitatively and quantitatively.

scholarly journals Tight Integration of Feature-based Relocalization in Monocular Direct Visual Odometry

2021 ◽  
Author(s):  
Mariia Gladkova ◽  
Rui Wang ◽  
Niclas Zeller ◽  
Daniel Cremers
Keyword(s):  
Visual Odometry ◽  
Feature Based ◽  
Tight Integration
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