An integrated land vehicle navigation system based on context awareness

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• 作者：Nan Gao ; Long Zhao
• 刊名：GPS Solutions
• 出版年：2016
• 出版时间：July 2016
• 年：2016
• 卷：20
• 期：3
• 页码：509-524
• 全文大小：1,381 KB
• 刊物类别：Earth and Environmental Science
• 刊物主题：Earth sciences
  Geophysics and Geodesy
  Meteorology and Climatology
  Extraterrestrial Physics and Space Sciences
  Automotive and Aerospace Engineering and Traffic
  Electronic and Computer Engineering
  
• 出版者：Springer Berlin / Heidelberg
• ISSN：1521-1886
• 卷排序：20

文摘

In the complex urban environments, land vehicle navigation purely relying on GNSS cannot satisfy user needs due to the loss of satellite signals caused by obstructions such as buildings, tunnels, and trees. To solve this problem, we introduce a GPS-/MSINS-/magnetometer-integrated urban navigation system based on context awareness. In this system, the data from the Micro Strapdown Inertial Navigation System (MSINS) are used to analyze and detect the context knowledge of vehicles, whose sensor errors can be compensated by the heuristic drift reduction algorithm for different motion situations. When GPS is available, the vehicle position can be estimated by unscented Kalman Filter, whereas in the case of GPS outages, the vehicle attitude is provided by an attitude and heading reference system and the motion constraints-aided algorithm is used to complete the positioning. In the experiment validation, the integrated navigation system is set up by low-cost inertial sensors. The result shows that the proposed system can achieve high accuracy when GPS is available. For most of the time without GPS, the system can guarantee the positioning precision of 10 m and compensate the errors of MSINS effectively, which fully satisfies positioning needs in complex urban environments.KeywordsGPS outagesAHRSContext awarenessHeuristic drift reduction (HDR)Motion constraints aided (MCA)