Assessment of Ultra-Tightly Coupled GNSS/INS Integration System towards Autonomous Ground Vehicle Navigation Using Smartphone IMU

Yiran Luo; Chunyang Yu; Bing Xu; Jian Li; Guang Je Tsai; You Li; Naser El-Sheimy

doi:10.1109/ICSIDP47821.2019.9173292

Assessment of Ultra-Tightly Coupled GNSS/INS Integration System towards Autonomous Ground Vehicle Navigation Using Smartphone IMU

Yiran Luo
, Chunyang Yu
, Bing Xu
, Jian Li
, Guang Je Tsai
, You Li
, Naser El-Sheimy

School of Information and Electronics

Beijing Institute of Technology
Ministry of Education in China
University of Calgary
Hong Kong Polytechnic University
National Cheng Kung University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

11 Citations (Scopus)

Abstract

An ultra-tightly coupled (UTC) GNSS/INS integration navigation system is established and researched for the autonomous ground vehicle navigation based on the consumer-level inertial measurement unit (IMU). The used IMU is chosen from a smartphone in this work. The proposed integration architecture is tested with a GNSS software-defined receiver (SDR) using the vector tracking (VT) technique. The UTC integration system which is measured through both GNSS measurements and the IMU data is an upgraded version of the vector tracking technique. Meanwhile, the performances of both the integration solutions and the GNSS solutions can be improved by such advanced technology. An extremely challenging environment is chosen to verify the navigation performance. The loosely coupled (LC) GNSS/INS integration navigation system using the vector GNSS SDR and a commercial U-Blox GNSS receiver are also tested in the same scenario as comparisons. The field test results demonstrate that the proposed ultra-tight coupling algorithm can enhance the availability of the navigation solutions.

Original language	English
Title of host publication	ICSIDP 2019 - IEEE International Conference on Signal, Information and Data Processing 2019
Publisher	Institute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)	9781728123455
DOIs	https://doi.org/10.1109/ICSIDP47821.2019.9173292
Publication status	Published - Dec 2019
Event	2019 IEEE International Conference on Signal, Information and Data Processing, ICSIDP 2019 - Chongqing, China Duration: 11 Dec 2019 → 13 Dec 2019

Publication series

Name	ICSIDP 2019 - IEEE International Conference on Signal, Information and Data Processing 2019

Conference

Conference	2019 IEEE International Conference on Signal, Information and Data Processing, ICSIDP 2019
Country/Territory	China
City	Chongqing
Period	11/12/19 → 13/12/19

Keywords

consumer-level IMU
global navigation satellite system (GNSS)
ground vehicle navigation
ultra-tightly coupled GNSS/INS integration
vector tracking

Access to Document

10.1109/ICSIDP47821.2019.9173292

Cite this

Luo, Y., Yu, C., Xu, B., Li, J., Tsai, G. J., Li, Y., & El-Sheimy, N. (2019). Assessment of Ultra-Tightly Coupled GNSS/INS Integration System towards Autonomous Ground Vehicle Navigation Using Smartphone IMU. In ICSIDP 2019 - IEEE International Conference on Signal, Information and Data Processing 2019 Article 9173292 (ICSIDP 2019 - IEEE International Conference on Signal, Information and Data Processing 2019). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICSIDP47821.2019.9173292

Luo, Yiran ; Yu, Chunyang ; Xu, Bing et al. / Assessment of Ultra-Tightly Coupled GNSS/INS Integration System towards Autonomous Ground Vehicle Navigation Using Smartphone IMU. ICSIDP 2019 - IEEE International Conference on Signal, Information and Data Processing 2019. Institute of Electrical and Electronics Engineers Inc., 2019. (ICSIDP 2019 - IEEE International Conference on Signal, Information and Data Processing 2019).

@inproceedings{7721ebf3e4e74d77a8b26b20e36044d6,

title = "Assessment of Ultra-Tightly Coupled GNSS/INS Integration System towards Autonomous Ground Vehicle Navigation Using Smartphone IMU",

abstract = "An ultra-tightly coupled (UTC) GNSS/INS integration navigation system is established and researched for the autonomous ground vehicle navigation based on the consumer-level inertial measurement unit (IMU). The used IMU is chosen from a smartphone in this work. The proposed integration architecture is tested with a GNSS software-defined receiver (SDR) using the vector tracking (VT) technique. The UTC integration system which is measured through both GNSS measurements and the IMU data is an upgraded version of the vector tracking technique. Meanwhile, the performances of both the integration solutions and the GNSS solutions can be improved by such advanced technology. An extremely challenging environment is chosen to verify the navigation performance. The loosely coupled (LC) GNSS/INS integration navigation system using the vector GNSS SDR and a commercial U-Blox GNSS receiver are also tested in the same scenario as comparisons. The field test results demonstrate that the proposed ultra-tight coupling algorithm can enhance the availability of the navigation solutions.",

keywords = "consumer-level IMU, global navigation satellite system (GNSS), ground vehicle navigation, ultra-tightly coupled GNSS/INS integration, vector tracking",

author = "Yiran Luo and Chunyang Yu and Bing Xu and Jian Li and Tsai, \{Guang Je\} and You Li and Naser El-Sheimy",

note = "Publisher Copyright: {\textcopyright} 2019 IEEE.; 2019 IEEE International Conference on Signal, Information and Data Processing, ICSIDP 2019 ; Conference date: 11-12-2019 Through 13-12-2019",

year = "2019",

month = dec,

doi = "10.1109/ICSIDP47821.2019.9173292",

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series = "ICSIDP 2019 - IEEE International Conference on Signal, Information and Data Processing 2019",

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Luo, Y, Yu, C, Xu, B, Li, J, Tsai, GJ, Li, Y & El-Sheimy, N 2019, Assessment of Ultra-Tightly Coupled GNSS/INS Integration System towards Autonomous Ground Vehicle Navigation Using Smartphone IMU. in ICSIDP 2019 - IEEE International Conference on Signal, Information and Data Processing 2019., 9173292, ICSIDP 2019 - IEEE International Conference on Signal, Information and Data Processing 2019, Institute of Electrical and Electronics Engineers Inc., 2019 IEEE International Conference on Signal, Information and Data Processing, ICSIDP 2019, Chongqing, China, 11/12/19. https://doi.org/10.1109/ICSIDP47821.2019.9173292

Assessment of Ultra-Tightly Coupled GNSS/INS Integration System towards Autonomous Ground Vehicle Navigation Using Smartphone IMU. / Luo, Yiran; Yu, Chunyang; Xu, Bing et al.
ICSIDP 2019 - IEEE International Conference on Signal, Information and Data Processing 2019. Institute of Electrical and Electronics Engineers Inc., 2019. 9173292 (ICSIDP 2019 - IEEE International Conference on Signal, Information and Data Processing 2019).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Tsai, Guang Je

AU - Li, You

AU - El-Sheimy, Naser

PY - 2019/12

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N2 - An ultra-tightly coupled (UTC) GNSS/INS integration navigation system is established and researched for the autonomous ground vehicle navigation based on the consumer-level inertial measurement unit (IMU). The used IMU is chosen from a smartphone in this work. The proposed integration architecture is tested with a GNSS software-defined receiver (SDR) using the vector tracking (VT) technique. The UTC integration system which is measured through both GNSS measurements and the IMU data is an upgraded version of the vector tracking technique. Meanwhile, the performances of both the integration solutions and the GNSS solutions can be improved by such advanced technology. An extremely challenging environment is chosen to verify the navigation performance. The loosely coupled (LC) GNSS/INS integration navigation system using the vector GNSS SDR and a commercial U-Blox GNSS receiver are also tested in the same scenario as comparisons. The field test results demonstrate that the proposed ultra-tight coupling algorithm can enhance the availability of the navigation solutions.

AB - An ultra-tightly coupled (UTC) GNSS/INS integration navigation system is established and researched for the autonomous ground vehicle navigation based on the consumer-level inertial measurement unit (IMU). The used IMU is chosen from a smartphone in this work. The proposed integration architecture is tested with a GNSS software-defined receiver (SDR) using the vector tracking (VT) technique. The UTC integration system which is measured through both GNSS measurements and the IMU data is an upgraded version of the vector tracking technique. Meanwhile, the performances of both the integration solutions and the GNSS solutions can be improved by such advanced technology. An extremely challenging environment is chosen to verify the navigation performance. The loosely coupled (LC) GNSS/INS integration navigation system using the vector GNSS SDR and a commercial U-Blox GNSS receiver are also tested in the same scenario as comparisons. The field test results demonstrate that the proposed ultra-tight coupling algorithm can enhance the availability of the navigation solutions.

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PB - Institute of Electrical and Electronics Engineers Inc.

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ER -

Luo Y, Yu C, Xu B, Li J, Tsai GJ, Li Y et al. Assessment of Ultra-Tightly Coupled GNSS/INS Integration System towards Autonomous Ground Vehicle Navigation Using Smartphone IMU. In ICSIDP 2019 - IEEE International Conference on Signal, Information and Data Processing 2019. Institute of Electrical and Electronics Engineers Inc. 2019. 9173292. (ICSIDP 2019 - IEEE International Conference on Signal, Information and Data Processing 2019). doi: 10.1109/ICSIDP47821.2019.9173292

Assessment of Ultra-Tightly Coupled GNSS/INS Integration System towards Autonomous Ground Vehicle Navigation Using Smartphone IMU

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