A Robust Integrated Navigation System for Unmanned Ground Vehicle Based on IMU/GNSS/Vision/Geomagnetic Fusion

Pengxiang Yang, Chaoming Yang, Zhenhui Fan*, Kai Shen, Chunbo Mei, Yicheng Zhou

*此作品的通讯作者

科研成果: 书/报告/会议事项章节会议稿件同行评审

摘要

Aiming at the problem of GNSS signal failure of unmanned ground vehicles in urban environments, a robust integrated navigation system based on IMU/GNSS/vision/geomagnetic combination is designed, which can generate full-dimension navigation information under the framework of factor graph (FG). Different from the traditional FG model which takes IMU measurement as the core, this paper designs a complete navigation information fusion algorithm and covariance matrix based on visual odometry. To improve the accuracy and reliability of navigation information, this paper introduces offline maps. Given the different dimensions measured in the process of attitude information optimization and the particularity of the rotation matrix, this paper designed an attitude update process based on visual feature points to realize the fusion of IMU, geomagnetic, and feature points. Long endurance road test in a typical urban environment shows that the horizontal positioning accuracy is 4.38m (RMSE), and course accuracy is 0.849r (RMSE).

源语言英语
主期刊名Mechatronics and Automation Technology - Proceedings of the 3rd International Conference, ICMAT 2024
编辑Jinyang Xu
出版商IOS Press BV
563-572
页数10
ISBN(电子版)9781643685649
DOI
出版状态已出版 - 2024
活动3rd International Conference on Mechatronics and Automation Technology, ICMAT 2024 - Wuhan, 中国
期限: 25 10月 202426 10月 2024

出版系列

姓名Advances in Transdisciplinary Engineering
64
ISSN(印刷版)2352-751X
ISSN(电子版)2352-7528

会议

会议3rd International Conference on Mechatronics and Automation Technology, ICMAT 2024
国家/地区中国
Wuhan
时期25/10/2426/10/24

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引用此

Yang, P., Yang, C., Fan, Z., Shen, K., Mei, C., & Zhou, Y. (2024). A Robust Integrated Navigation System for Unmanned Ground Vehicle Based on IMU/GNSS/Vision/Geomagnetic Fusion. 在 J. Xu (编辑), Mechatronics and Automation Technology - Proceedings of the 3rd International Conference, ICMAT 2024 (页码 563-572). (Advances in Transdisciplinary Engineering; 卷 64). IOS Press BV. https://doi.org/10.3233/ATDE241290