论文信息 - Evaluation on loosely and tightly coupled GNSS/INS vehicle navigation system

Evaluation on loosely and tightly coupled GNSS/INS vehicle navigation system

This paper focuses on GNSS and Inertial Navigation System (INS) integration system based on the loosely coupled (LC) and tightly coupled (TC) schemes. This paper describes the system architechture of two systems and presents the mathematical derivation. In order to evaluate the system performance of the two schemes, a real field experiment was carried in the campus of Beijing Jiaotong University. The experimental results show that the positioning performance is able to verify the theoretical analysis.

Jian Wang | Debiao Lu | Dan Liu | Wei Jiang

[1] Dennis M. Akos,et al. Monocular Camera/IMU/GNSS Integration for Ground Vehicle Navigation in Challenging GNSS Environments , 2012, Sensors.

[2] A. H. Mohamed,et al. Adaptive Kalman Filtering for INS/GPS , 1999 .

[3] Fernando Seco Granja,et al. Accurate Pedestrian Indoor Navigation by Tightly Coupling Foot-Mounted IMU and RFID Measurements , 2012, IEEE Transactions on Instrumentation and Measurement.

[4] Roland Siegwart,et al. Fusion of IMU and Vision for Absolute Scale Estimation in Monocular SLAM , 2011, J. Intell. Robotic Syst..

[5] Yang Gao,et al. Loosely-Coupled Stereo Vision-Aided 3D Reduced Inertial Sensor and GPS for Land Vehicle Localization , 2015 .

[6] Mark G. Petovello,et al. Development of a Tightly Coupled Vision/GNSS System , 2014 .

[7] Elliott D. Kaplan. Understanding GPS : principles and applications , 1996 .

[8] Andrey Soloviev,et al. Tight Coupling of Laser Scanner and Inertial Measurements for a Fully Autonomous Relative Navigation Solution , 2007 .

[9] Andrey Soloviev,et al. Tight Coupling of GPS and INS for Urban Navigation , 2010, IEEE Transactions on Aerospace and Electronic Systems.

[10] Bruno Scherzinger. Quasi Tightly Coupled GNSS-INS Integration , 2014 .