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Sensor Fusion of GNSS and IMU Data for Robust Localization via Smoothed Error State Kalman Filter

High−precision and robust localization is critical for intelligent vehicle and transportation systems, while the sensor signal loss or variance could dramatically affect the localization performance. The vehicle localization problem in an environment with Global Navigation Satellite System (GNSS) si...

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Autores principales: Yin, Yuming, Zhang, Jinhong, Guo, Mengqi, Ning, Xiaobin, Wang, Yuan, Lu, Jianshan
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2023
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10099052/
https://www.ncbi.nlm.nih.gov/pubmed/37050736
http://dx.doi.org/10.3390/s23073676
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author Yin, Yuming
Zhang, Jinhong
Guo, Mengqi
Ning, Xiaobin
Wang, Yuan
Lu, Jianshan
author_facet Yin, Yuming
Zhang, Jinhong
Guo, Mengqi
Ning, Xiaobin
Wang, Yuan
Lu, Jianshan
author_sort Yin, Yuming
collection PubMed
description High−precision and robust localization is critical for intelligent vehicle and transportation systems, while the sensor signal loss or variance could dramatically affect the localization performance. The vehicle localization problem in an environment with Global Navigation Satellite System (GNSS) signal errors is investigated in this study. The error state Kalman filtering (ESKF) and Rauch–Tung–Striebel (RTS) smoother are integrated using the data from Inertial Measurement Unit (IMU) and GNSS sensors. A segmented RTS smoothing algorithm is proposed in order to estimate the error state, which is typically close to zero and mostly linear, which allows more accurate linearization and improved state estimation accuracy. The proposed algorithm is evaluated using simulated GNSS signals with and without signal errors. The simulation results demonstrate its superior accuracy and stability for state estimation. The designed ESKF algorithm yielded an approximate 3% improvement in long straight line and turning scenarios compared to classical EKF algorithm. Additionally, the ESKF−RTS algorithm exhibited a 10% increase in the localization accuracy compared to the ESKF algorithm. In the double turning scenarios, the ESKF algorithm resulted in an improvement of about 50% in comparison to the EKF algorithm, while the ESKF−RTS algorithm improved by about 50% compared to the ESKF algorithm. These results indicated that the proposed ESKF−RTS algorithm is more robust and provides more accurate localization.
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spelling pubmed-100990522023-04-14 Sensor Fusion of GNSS and IMU Data for Robust Localization via Smoothed Error State Kalman Filter Yin, Yuming Zhang, Jinhong Guo, Mengqi Ning, Xiaobin Wang, Yuan Lu, Jianshan Sensors (Basel) Article High−precision and robust localization is critical for intelligent vehicle and transportation systems, while the sensor signal loss or variance could dramatically affect the localization performance. The vehicle localization problem in an environment with Global Navigation Satellite System (GNSS) signal errors is investigated in this study. The error state Kalman filtering (ESKF) and Rauch–Tung–Striebel (RTS) smoother are integrated using the data from Inertial Measurement Unit (IMU) and GNSS sensors. A segmented RTS smoothing algorithm is proposed in order to estimate the error state, which is typically close to zero and mostly linear, which allows more accurate linearization and improved state estimation accuracy. The proposed algorithm is evaluated using simulated GNSS signals with and without signal errors. The simulation results demonstrate its superior accuracy and stability for state estimation. The designed ESKF algorithm yielded an approximate 3% improvement in long straight line and turning scenarios compared to classical EKF algorithm. Additionally, the ESKF−RTS algorithm exhibited a 10% increase in the localization accuracy compared to the ESKF algorithm. In the double turning scenarios, the ESKF algorithm resulted in an improvement of about 50% in comparison to the EKF algorithm, while the ESKF−RTS algorithm improved by about 50% compared to the ESKF algorithm. These results indicated that the proposed ESKF−RTS algorithm is more robust and provides more accurate localization. MDPI 2023-04-01 /pmc/articles/PMC10099052/ /pubmed/37050736 http://dx.doi.org/10.3390/s23073676 Text en © 2023 by the authors. https://creativecommons.org/licenses/by/4.0/Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/).
spellingShingle Article
Yin, Yuming
Zhang, Jinhong
Guo, Mengqi
Ning, Xiaobin
Wang, Yuan
Lu, Jianshan
Sensor Fusion of GNSS and IMU Data for Robust Localization via Smoothed Error State Kalman Filter
title Sensor Fusion of GNSS and IMU Data for Robust Localization via Smoothed Error State Kalman Filter
title_full Sensor Fusion of GNSS and IMU Data for Robust Localization via Smoothed Error State Kalman Filter
title_fullStr Sensor Fusion of GNSS and IMU Data for Robust Localization via Smoothed Error State Kalman Filter
title_full_unstemmed Sensor Fusion of GNSS and IMU Data for Robust Localization via Smoothed Error State Kalman Filter
title_short Sensor Fusion of GNSS and IMU Data for Robust Localization via Smoothed Error State Kalman Filter
title_sort sensor fusion of gnss and imu data for robust localization via smoothed error state kalman filter
topic Article
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10099052/
https://www.ncbi.nlm.nih.gov/pubmed/37050736
http://dx.doi.org/10.3390/s23073676
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