1 / 15

M. Troger, C. Fösleitner, J. Seybold TeleConsult Austria GmbH, Austria

GNSS/INS Integration using a Tightly Coupled Approach for Navigation of People with Visual Impairments. M. Troger, C. Fösleitner, J. Seybold TeleConsult Austria GmbH, Austria European Navigation Conference 2013 23 rd – 25 th April 2013 Vienna, Austria. Motivation (1/2).

sally
Télécharger la présentation

M. Troger, C. Fösleitner, J. Seybold TeleConsult Austria GmbH, Austria

An Image/Link below is provided (as is) to download presentation Download Policy: Content on the Website is provided to you AS IS for your information and personal use and may not be sold / licensed / shared on other websites without getting consent from its author. Content is provided to you AS IS for your information and personal use only. Download presentation by click this link. While downloading, if for some reason you are not able to download a presentation, the publisher may have deleted the file from their server. During download, if you can't get a presentation, the file might be deleted by the publisher.

E N D

Presentation Transcript

  1. GNSS/INS Integration using a Tightly Coupled Approach for Navigation of People with Visual Impairments M. Troger, C. Fösleitner, J. Seybold TeleConsult Austria GmbH, Austria European Navigation Conference 2013 23rd – 25th April 2013 Vienna, Austria

  2. Motivation (1/2) • Navigation of pedestrian through GNSS • Position is determined by means of GNSS • Route to the destination point (track point) is calculated • Manoeuvring list is generated • Visually guidance to the track point through Smartphone screen • How to proceed, if the pedestrian is visually impaired? ENC 2013, April 23rd - 25th 2013 - Vienna, Austria

  3. Motivation (2/2) • Navigation of visually impaired people • Determination of position • Binaural sounds generated • Depending on user’s position • Depending on user’s heading • Depending on position of track point • Binaural sounds provided to user through stereo-headphone • Requirements: • High accuracy and availability of position • High availability of heading • Fusion between GNSS and INS sensors • Different properties of both systems qualify them for combined use • Kalman Filter  optimal tool for fusion ENC 2013, April 23rd - 25th 2013 - Vienna, Austria

  4. Contents • Loosely vs. tightly coupling • Tightly coupled approach • Parameters of the state • Measurement updates • Dynamic model • Dynamic test and results • Conclusion and future work ENC 2013, April 23rd - 25th 2013 - Vienna, Austria

  5. Loosely vs. tightly coupling Loosely coupling Tightly coupling • Advantage of tightly coupling: GNSS measurements can be used if less than four satellites are visible! ENC 2013, April 23rd - 25th 2013 - Vienna, Austria

  6. Tightly coupled approach (1/4) • Parameters of the state vector • ECEF position • ECEF velocity • Distance error caused by receiver clock error • Velocity error caused by receiver clock drift • Quaternion vector • Biases of the gyroscopes ENC 2013, April 23rd - 25th 2013 - Vienna, Austria

  7. Tightly coupled approach (2/4) • Measurement update: GNSS observations • Code pseudoranges • Corrected due to ionosphere, troposphere, and satellite clock error • Elevation based measurement noise • Doppler • Measurement noise indirect proportional to SNR ENC 2013, April 23rd - 25th 2013 - Vienna, Austria

  8. Tightly coupled approach (3/4) • Measurement update: Velocity • Derivation of step frequency using autocorrelation of acceleration measurements • Computation of horizontal velocity with step length and step length variation parameter • Measurement update: Bias of angular rates • During phases without rotation and without movements • Identification of phases using inertial measurements ENC 2013, April 23rd - 25th 2013 - Vienna, Austria

  9. Tightly coupled approach (4/4) • Time update • Model of uniform motion • Angular rates and gyro biases are introduced into dynamic coefficient matrix ENC 2013, April 23rd - 25th 2013 - Vienna, Austria

  10. Dynamic test and results (1/3) • Positioning unit was fixed tightly onto the belt at the back of a test person • Low-cost GPS L1 receiver with raw data output • Code pseudoranges, Doppler (Output rate: 1 Hz) • Navigation Message • IMU with low-cost characteristics • Angular rates, accelerations (Output rate: 20 Hz) • Synchronisation and storage of measurements on micro-processor board  sensor fusion in post-processing • Reference trajectory based only on GPS observations processed by means of Kalman filtering in real-time (1 Hz) • Initial alignment at the beginning of the dynamic test • Roll and pitch  from accelerations during static phase • Heading  from GPS during dynamic phase • Default step length of user ENC 2013, April 23rd - 25th 2013 - Vienna, Austria

  11. Dynamic test and results (2/3) Horizontal positions without GPS outage Heading without GPS outage Horizontal positions with simulated GPS outage (35 s) Heading with simulated GPS outage (35 s) ENC 2013, April 23rd - 25th 2013 - Vienna, Austria

  12. Dynamic test and results (3/3) • Overview of trajectories overlaid with GoogleTM Earth Horizontal positions overlaid with GoogleTM Earth

  13. Conclusion and future work • Conclusion • Kalman Filter approach shows potential in area of pedestrian navigation • GPS outages can be bridged over short time interval • Heading information is usable for binaural guidance • Future work • Find the optimal weighting between measurement noise and system noise • Software integration for real time operation • Online step length derivation • Refinement of bias update ENC 2013, April 23rd - 25th 2013 - Vienna, Austria

  14. Acknowledgement • The research work described was conducted within the project ARGUS, which is co-funded by the EU Seventh Framework Programme under grant FP7-288841(ARGUS). ENC 2013, April 23rd - 25th 2013 - Vienna, Austria

  15. Markus Troger Senior Systems Engineer E-MAIL mtroger@tca.at WEB www.tca.at PHONE +43-316-890971-11 FAX +43-316-890971-55

More Related