TY - GEN
T1 - Assessment of Ultra-Tightly Coupled GNSS/INS Integration System towards Autonomous Ground Vehicle Navigation Using Smartphone IMU
AU - Luo, Yiran
AU - Yu, Chunyang
AU - Xu, Bing
AU - Li, Jian
AU - Tsai, Guang Je
AU - Li, You
AU - El-Sheimy, Naser
N1 - Funding Information:
ACKNOWLEDGMENT This work was supported in part by the National Natural Science Foundation of China under Grant 31727901, and in part by the Chang Jiang Scholars Programme under Grant T2012122.
Publisher Copyright:
© 2019 IEEE.
Copyright:
Copyright 2020 Elsevier B.V., All rights reserved.
PY - 2019/12
Y1 - 2019/12
N2 - An ultra-tightly coupled (UTC) GNSS/INS integration navigation system is established and researched for the autonomous ground vehicle navigation based on the consumer-level inertial measurement unit (IMU). The used IMU is chosen from a smartphone in this work. The proposed integration architecture is tested with a GNSS software-defined receiver (SDR) using the vector tracking (VT) technique. The UTC integration system which is measured through both GNSS measurements and the IMU data is an upgraded version of the vector tracking technique. Meanwhile, the performances of both the integration solutions and the GNSS solutions can be improved by such advanced technology. An extremely challenging environment is chosen to verify the navigation performance. The loosely coupled (LC) GNSS/INS integration navigation system using the vector GNSS SDR and a commercial U-Blox GNSS receiver are also tested in the same scenario as comparisons. The field test results demonstrate that the proposed ultra-tight coupling algorithm can enhance the availability of the navigation solutions.
AB - An ultra-tightly coupled (UTC) GNSS/INS integration navigation system is established and researched for the autonomous ground vehicle navigation based on the consumer-level inertial measurement unit (IMU). The used IMU is chosen from a smartphone in this work. The proposed integration architecture is tested with a GNSS software-defined receiver (SDR) using the vector tracking (VT) technique. The UTC integration system which is measured through both GNSS measurements and the IMU data is an upgraded version of the vector tracking technique. Meanwhile, the performances of both the integration solutions and the GNSS solutions can be improved by such advanced technology. An extremely challenging environment is chosen to verify the navigation performance. The loosely coupled (LC) GNSS/INS integration navigation system using the vector GNSS SDR and a commercial U-Blox GNSS receiver are also tested in the same scenario as comparisons. The field test results demonstrate that the proposed ultra-tight coupling algorithm can enhance the availability of the navigation solutions.
KW - consumer-level IMU
KW - global navigation satellite system (GNSS)
KW - ground vehicle navigation
KW - ultra-tightly coupled GNSS/INS integration
KW - vector tracking
UR - http://www.scopus.com/inward/record.url?scp=85091947134&partnerID=8YFLogxK
U2 - 10.1109/ICSIDP47821.2019.9173292
DO - 10.1109/ICSIDP47821.2019.9173292
M3 - Conference article published in proceeding or book
AN - SCOPUS:85091947134
T3 - ICSIDP 2019 - IEEE International Conference on Signal, Information and Data Processing 2019
BT - ICSIDP 2019 - IEEE International Conference on Signal, Information and Data Processing 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2019 IEEE International Conference on Signal, Information and Data Processing, ICSIDP 2019
Y2 - 11 December 2019 through 13 December 2019
ER -