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Augmentation of GNSS by Low-Cost MEMS IMU, OBD-II, and Digital Altimeter for Improved Positioning in Urban Area

JoonHoo Lim, Won Jae Yoo, La Woo Kim, You Dam Lee, Hyung Keun Lee
2018 Sensors  
The proposed system augments GNSS by low-cost MEMS IMU (Micro Electro Mechanical Systems Inertial Measurement Unit), OBD (On-Board Diagnostics)-II, and digital altimeter modules.  ...  For improved availability of time synchronization in urban area, an adaptive synchronization method is proposed to combine the external PPS (Pulse Per Second) signal and the internal onboard clock.  ...  For the reason, the rapid growth of position errors during partial or no satellite visibility can be bounded even if low cost MEMS IMUs are used.  ... 
doi:10.3390/s18113830 pmid:30413086 fatcat:rbsg3n64wbcyjetrosoalui4xy

An Adaptive Unscented Kalman Filter for tightly coupled INS/GPS integration

Tamer Akca, Mubeccel Demirekler
2012 Proceedings of the 2012 IEEE/ION Position, Location and Navigation Symposium  
Name, Last name : Tamer AKÇA Signature : iv ABSTRACT AN ADAPTIVE UNSCENTED KALMAN FILTER FOR  ...  MTi is a low cost -low performance MEMS IMU of Xsens Technologies Inc.  ...  Standard EKF and UKF Results Low cost and low performance MEMS IMU is integrated with the GPS in a tightlycoupled architecture using the standard EKF and UKF algorithms.  ... 
doi:10.1109/plans.2012.6236907 fatcat:sf63vb4rineupprvl5zqjlpxjy

Trajectory Tracking of an Oscillating Movement with a Low-Cost IMU in Geodetic Surveying Applications

Gašper Štebe, Peter Krapež, Janez Podobnik, Dušan Kogoj
2021 Measurement (London)  
In this paper, we design a method to use a low-cost IMU (Inertial Measurement Unit) sensor for the absolute positioning of an oscillating object and for improvement of the kinematic RTS (Robotic Total  ...  Typically when using standard methods for position estimation based on IMU measurements, a drift of several hundred meters occurres after only 1 min of operation.  ...  Acknowledgments We acknowledge Jure Ž ižmond for the support in the fieldwork with Quanser Shake Table and Jernej Tekavec for sharing his experience with low-cost IMUs. Appendix A.  ... 
doi:10.1016/j.measurement.2021.109207 fatcat:t4nac6fx2rhyrlybjl2un5kvga

An Artificial Neural Network Embedded Position and Orientation Determination Algorithm for Low Cost MEMS INS/GPS Integrated Sensors

Kai-Wei Chiang, Hsiu-Wen Chang, Chia-Yuan Li, Yun-Wen Huang
2009 Sensors  
The most common technologies used for this purpose today are satellite positioning using Global Positioning System (GPS) and Inertial Navigation System (INS) using an Inertial Measurement Unit (IMU).  ...  The Kalman Filter (KF) is considered as the optimal estimation tool for real-time INS/GPS integrated kinematic position and orientation determination.  ...  Eun-Hwan Shin is acknowledged for providing the INS mechanization and INS/GPS extended Kalman filter used in this article.  ... 
doi:10.3390/s90402586 pmid:22574034 pmcid:PMC3348803 fatcat:ega3rfs5t5bxvbzwaamfrwtfkm

A Machine Learning Approach for an Improved Inertial Navigation System Solution

Ahmed E. Mahdi, Ahmed Azouz, Ahmed E. Abdalla, Ashraf Abosekeen
2022 Sensors  
Therefore, MEMS-IMU measurements lead to drifts in the solutions when used as a control input to the INS.  ...  In this paper, a machine-learning-based adaptive neuro-fuzzy inference system (ML-based-ANFIS) is proposed to leverage the performance of low-grade IMUs in two phases.  ...  This process was carried out using a high-end IMU as a reference to provide a suitable model for the low-end IMU in the ML structure.  ... 
doi:10.3390/s22041687 pmid:35214591 pmcid:PMC8879977 fatcat:m3tu3nnx5rhstbt5cnlck3d5na

Magnetometer and Gyroscope Calibration Method with Level Rotation

Zongkai Wu, Wei Wang
2018 Sensors  
The test result is shown in Section 4 by applying an actual MEMS-IMU system, and conclusions are given in Section 5.  ...  By removing the attitude matrix, this method obtains a model that does not contain any attitude information, and a nonlinear Kalman filter (KF) is used to estimate calibration parameters.  ...  Acknowledgments: This work has been supported in part by the National Natural Science Foundation under Grant 61571148, in part by the Fundamental Research Runs for the Central University under Grant HEUCF041701  ... 
doi:10.3390/s18030748 pmid:29494558 pmcid:PMC5876791 fatcat:gm7gwds3lfbohkrbb4tqmzcg2i

Improving Robustness of the MAV Yaw Angle Estimation for Low-Cost INS/GPS Integration Aided by Tri-axial Magnetometer

Jiankang Zhao, Cui Chao, Jianghao Hu
2019 IET radar, sonar & navigation  
This study designs a method to improve the robustness of the micro air vehicle (MAV) yaw angle estimation for lowcost inertial navigation system/global positioning system (INS/GPS) integration by using  ...  The simulation and experiment results show that the proposed method can calibrate the tri-axial magnetometer properly and screen out the abnormal magnetic measurement for the robustness of yaw angle estimation  ...  Also, the authors would like to thank their colleagues for their assistance in the experiments.  ... 
doi:10.1049/iet-rsn.2019.0200 fatcat:yzg2w3hkdfcz3mkfbpw33d7h2u

The Performance Analysis of a Real-Time Integrated INS/GPS Vehicle Navigation System with Abnormal GPS Measurement Elimination

Kai-Wei Chiang, Thanh Duong, Jhen-Kai Liao
2013 Sensors  
These errors degrade the overall position accuracy of an integrated system that uses conventional INS/GPS integration strategies such as loosely coupled (LC) and tightly coupled (TC) schemes.  ...  In most INS/GPS integrated architectures, the GPS is considered to be an accurate reference with which to correct for the systematic errors of the inertial sensors, which are composed of biases, scale  ...  Because the goal of this research is to improve the performance of the system using a low-cost MEMS IMU, the data fusion strategy is most critical.  ... 
doi:10.3390/s130810599 pmid:23955434 pmcid:PMC3812620 fatcat:r6dromysgzfz5gjwjeyel3rygu

MEMS Inertial Sensors Based Gait Analysis for Rehabilitation Assessment via Multi-Sensor Fusion

Sen Qiu, Long Liu, Hongyu Zhao, Zhelong Wang, Yongmei Jiang
2018 Micromachines  
This paper aims to build a low-cost, intelligent and lightweight wearable gait analysis platform based on the emerging body sensor networks, which can be used for rehabilitation assessment of patients  ...  the proposed method has great potential as an auxiliary for medical rehabilitation assessment.  ...  We chose straps over housing shells due to their flexible structure, strong adaptability, lower cost and good maneuverability.  ... 
doi:10.3390/mi9090442 pmid:30424375 pmcid:PMC6187565 fatcat:xiem77zlbfczbjoubhsraf2the

Field Sensor Bias Calibration with Angular-Rate Sensors: Theory and Experimental Evaluation with Application to Magnetometer Calibration

Giancarlo Troni, Louis L. Whitcomb
2019 IEEE/ASME transactions on mechatronics  
Field sensors, such as magnetometers and accelerometers, are widely used sensors for attitude estimation, yet their accuracy is limited by sensor measurement bias.  ...  attitude estimation.  ...  Henthorn for their contributions to the engineering development and to the R/V Western Flyer officers and crew.  ... 
doi:10.1109/tmech.2019.2920367 fatcat:77lefwpvxbgfdjpht4hgmay74a

An Adaptive Low-Cost GNSS/MEMS-IMU Tightly-Coupled Integration System with Aiding Measurement in a GNSS Signal-Challenged Environment

Qifan Zhou, Hai Zhang, You Li, Zheng Li
2015 Sensors  
The main aim of this paper is to develop a low-cost GNSS/MEMS-IMU tightly-coupled integration system with aiding information that can provide reliable position solutions when the GNSS signal is challenged  ...  This approach adopts a novel redundant measurement noise estimation method for an adaptive Kalman filter application and also augments external measurements in the filter to aid the position solutions,  ...  Naser EI-Sheimy is highly acknowledged for his review and valuable suggestions.  ... 
doi:10.3390/s150923953 pmid:26393605 pmcid:PMC4610466 fatcat:z33asojr4ngovgkcasayvf6tki

Bridging GNSS Outages with IMU and Odometry: A Case Study for Agricultural Vehicles

Eva Reitbauer, Christoph Schmied
2021 Sensors  
GNSS-RTK, an IMU and wheel speed sensors are fused in an error-state Kalman filter to estimate position and attitude of the vehicle.  ...  During these outages, the vehicle's state is propagated using the wheel speed sensors, IMU, and the dynamic model for tracked vehicles.  ...  Abbreviations The following abbreviations are used in this manuscript:  ... 
doi:10.3390/s21134467 pmid:34210053 fatcat:tpsp72enp5cklc3k6f3mwoovui

Adaptive Estimation of Measurement Bias in Three-Dimensional Field Sensors with Angular Rate Sensors: Theory and Comparative Experimental Evaluation

Giancarlo Troni, Louis Whitcomb
2013 Robotics: Science and Systems IX  
Three-axis magnetometers and three-axis accelerometers are widely used sensors for attitude estimation, yet their accuracy is limited by sensor measurement bias.  ...  attitude estimation.  ...  Support for the first author was also provided by a Fulbright/Conicyt Fellowship.  ... 
doi:10.15607/rss.2013.ix.050 dblp:conf/rss/TroniW13 fatcat:5zf2h5vlqfb23h62zrdr7oc26m

Optimization of two GPS/MEMS-IMU integration strategies with application to sports

Adrian Waegli, Jan Skaloud
2009 GPS Solutions  
The application of low-cost L1 GPS receivers integrated with micro-electro-mechanical system (MEMS) inertial measurement units (IMU) allows the continuous observation of position, velocity and orientation  ...  The second part of the paper is devoted to the important problem of system initialization, because the conventional GPS/IMU alignment methods are no longer applicable when using MEMS-IMU.  ...  For these reasons, we introduced a system that integrates low-cost L1 GPS receivers with low-cost micro-electro-mechanical system (MEMS) inertial measurement units (IMU) .  ... 
doi:10.1007/s10291-009-0124-5 fatcat:qsmqkeevvbbgplvbnkspweo64m

A New Blondin System for Surveying and Photogrammetry

Federico Cuesta, Francisco Lopez-Rodriguez, Antonio Esteban
2013 Sensors  
A cascaded extended Kalman filter is used to integrate measurements from the on-board inertial measurement unit (IMU), a GPS and a GNSS.  ...  The georeferencing of the DSM is performed based on estimated camera position or using ground control points (GCPs).  ...  The authors would also like to thank the reviewers for their time and their valuable comments.  ... 
doi:10.3390/s131216894 fatcat:efsdwknhkjfklhg43ipddwy2uy
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