Assessment of Ultra-Tightly Coupled GNSS/INS Integration System towards Autonomous Ground Vehicle Navigation Using Smartphone IMU

Yiran Luo, Chunyang Yu, Bing Xu, Jian Li, Guang Je Tsai, You Li, Naser El-Sheimy

Research output: Chapter in book / Conference proceedingConference article published in proceeding or bookAcademic researchpeer-review

Abstract

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.

Original languageEnglish
Title of host publicationICSIDP 2019 - IEEE International Conference on Signal, Information and Data Processing 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9781728123455
DOIs
Publication statusPublished - Dec 2019
Event2019 IEEE International Conference on Signal, Information and Data Processing, ICSIDP 2019 - Chongqing, China
Duration: 11 Dec 201913 Dec 2019

Publication series

NameICSIDP 2019 - IEEE International Conference on Signal, Information and Data Processing 2019

Conference

Conference2019 IEEE International Conference on Signal, Information and Data Processing, ICSIDP 2019
CountryChina
CityChongqing
Period11/12/1913/12/19

Keywords

  • consumer-level IMU
  • global navigation satellite system (GNSS)
  • ground vehicle navigation
  • ultra-tightly coupled GNSS/INS integration
  • vector tracking

ASJC Scopus subject areas

  • Instrumentation
  • Artificial Intelligence
  • Computer Science Applications
  • Computer Vision and Pattern Recognition
  • Information Systems
  • Signal Processing
  • Information Systems and Management

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