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Monocular Camera/IMU/GNSS Integration for Ground Vehicle Navigation in Challenging GNSS Environments

Low-cost MEMS-based IMUs, video cameras and portable GNSS devices are commercially available for automotive applications and some manufacturers have already integrated such facilities into their vehicle systems. GNSS provides positioning, navigation and timing solutions to users worldwide. However,...

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Detalles Bibliográficos
Autores principales: Chu, Tianxing, Guo, Ningyan, Backén, Staffan, Akos, Dennis
Formato: Online Artículo Texto
Lenguaje:English
Publicado: Molecular Diversity Preservation International (MDPI) 2012
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC3376587/
https://www.ncbi.nlm.nih.gov/pubmed/22736999
http://dx.doi.org/10.3390/s120303162
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author Chu, Tianxing
Guo, Ningyan
Backén, Staffan
Akos, Dennis
author_facet Chu, Tianxing
Guo, Ningyan
Backén, Staffan
Akos, Dennis
author_sort Chu, Tianxing
collection PubMed
description Low-cost MEMS-based IMUs, video cameras and portable GNSS devices are commercially available for automotive applications and some manufacturers have already integrated such facilities into their vehicle systems. GNSS provides positioning, navigation and timing solutions to users worldwide. However, signal attenuation, reflections or blockages may give rise to positioning difficulties. As opposed to GNSS, a generic IMU, which is independent of electromagnetic wave reception, can calculate a high-bandwidth navigation solution, however the output from a self-contained IMU accumulates errors over time. In addition, video cameras also possess great potential as alternate sensors in the navigation community, particularly in challenging GNSS environments and are becoming more common as options in vehicles. Aiming at taking advantage of these existing onboard technologies for ground vehicle navigation in challenging environments, this paper develops an integrated camera/IMU/GNSS system based on the extended Kalman filter (EKF). Our proposed integration architecture is examined using a live dataset collected in an operational traffic environment. The experimental results demonstrate that the proposed integrated system provides accurate estimations and potentially outperforms the tightly coupled GNSS/IMU integration in challenging environments with sparse GNSS observations.
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spelling pubmed-33765872012-06-25 Monocular Camera/IMU/GNSS Integration for Ground Vehicle Navigation in Challenging GNSS Environments Chu, Tianxing Guo, Ningyan Backén, Staffan Akos, Dennis Sensors (Basel) Article Low-cost MEMS-based IMUs, video cameras and portable GNSS devices are commercially available for automotive applications and some manufacturers have already integrated such facilities into their vehicle systems. GNSS provides positioning, navigation and timing solutions to users worldwide. However, signal attenuation, reflections or blockages may give rise to positioning difficulties. As opposed to GNSS, a generic IMU, which is independent of electromagnetic wave reception, can calculate a high-bandwidth navigation solution, however the output from a self-contained IMU accumulates errors over time. In addition, video cameras also possess great potential as alternate sensors in the navigation community, particularly in challenging GNSS environments and are becoming more common as options in vehicles. Aiming at taking advantage of these existing onboard technologies for ground vehicle navigation in challenging environments, this paper develops an integrated camera/IMU/GNSS system based on the extended Kalman filter (EKF). Our proposed integration architecture is examined using a live dataset collected in an operational traffic environment. The experimental results demonstrate that the proposed integrated system provides accurate estimations and potentially outperforms the tightly coupled GNSS/IMU integration in challenging environments with sparse GNSS observations. Molecular Diversity Preservation International (MDPI) 2012-03-07 /pmc/articles/PMC3376587/ /pubmed/22736999 http://dx.doi.org/10.3390/s120303162 Text en © 2012 by the authors; licensee MDPI, Basel, Switzerland This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution license (http://creativecommons.org/licenses/by/3.0/).
spellingShingle Article
Chu, Tianxing
Guo, Ningyan
Backén, Staffan
Akos, Dennis
Monocular Camera/IMU/GNSS Integration for Ground Vehicle Navigation in Challenging GNSS Environments
title Monocular Camera/IMU/GNSS Integration for Ground Vehicle Navigation in Challenging GNSS Environments
title_full Monocular Camera/IMU/GNSS Integration for Ground Vehicle Navigation in Challenging GNSS Environments
title_fullStr Monocular Camera/IMU/GNSS Integration for Ground Vehicle Navigation in Challenging GNSS Environments
title_full_unstemmed Monocular Camera/IMU/GNSS Integration for Ground Vehicle Navigation in Challenging GNSS Environments
title_short Monocular Camera/IMU/GNSS Integration for Ground Vehicle Navigation in Challenging GNSS Environments
title_sort monocular camera/imu/gnss integration for ground vehicle navigation in challenging gnss environments
topic Article
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC3376587/
https://www.ncbi.nlm.nih.gov/pubmed/22736999
http://dx.doi.org/10.3390/s120303162
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