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Integration of GNSS...
Integration of GNSS-receivers with dual foot-mounted INS in urban and indoor environments
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Rantakokko, J. (författare)
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Nygards, J. (författare)
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Strömbäck, P. (författare)
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Andersson, P. (författare)
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- Nilsson, John Olof (författare)
- KTH,Signalbehandling,ACCESS Linnaeus Centre
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- Händel, Peter (författare)
- KTH,Signalbehandling,ACCESS Linnaeus Centre
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(creator_code:org_t)
- Institute of Electrical and Electronics Engineers (IEEE), 2016
- 2016
- Engelska.
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Ingår i: Proceedings of the IEEE/ION Position, Location and Navigation Symposium, PLANS 2016. - : Institute of Electrical and Electronics Engineers (IEEE). ; , s. 589-598
- Relaterad länk:
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https://urn.kb.se/re...
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https://doi.org/10.1...
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Abstract
Ämnesord
Stäng
- In safety-critical applications, including firefighter and law enforcement operations, infrastructure-free localization systems are typically required. These systems must provide accurate localization in all scenarios. Seamless indoor and outdoor localization and navigation, including in dense urban environments, are needed. Multi-sensor fusion algorithms constitute an integral part in all state-of-the-art indoor positioning systems. GNSS-receivers typically provide poor estimates of their own position uncertainty in dense urban and indoor environments, where significant position errors can be expected, which makes the design of a robust sensor fusion algorithm a challenge. Sensor fusion strategies for integration of a GNSS-receiver with foot-mounted inertial navigation systems (INS) are described and evaluated in this work. For a loosely coupled integration strategy, we suggest to use a cut-off criteria that governs when to discard the GNSS-positions and demonstrate that it can improve the position and heading accuracy in outdoor/indoor transition regions. Similarly, for a tightly coupled integration strategy, we suggest an approach with heavy-tailed measurement noise and demonstrate its capability to suppress inconsistent data and improve performance in the same regions.
Ämnesord
- TEKNIK OCH TEKNOLOGIER -- Elektroteknik och elektronik -- Signalbehandling (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Electrical Engineering, Electronic Engineering, Information Engineering -- Signal Processing (hsv//eng)
Nyckelord
- Foot-mounted INS
- GNSS
- Infrastructure-free localization
- outdoor-indoor transitions
- Sensor fusion
Publikations- och innehållstyp
- ref (ämneskategori)
- kon (ämneskategori)