Real-Time Robust Loosely-Coupled GPS-Aided PDR
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Inclou dades d'ús des de 2022
Cita com:
hdl:2117/79244
Tutor / directorHändel, Peter
Realitzat a/ambKungliga Tekniska högskolan
Tipus de documentProjecte/Treball Final de Carrera
Data2015-08
Condicions d'accésAccés obert
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continguts d'aquesta obra estan subjectes a la llicència de Creative Commons
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Reconeixement-NoComercial-SenseObraDerivada 3.0 Espanya
Abstract
Fusion between inertial navigation systems (INS) and satellite-based sys- tems like GPS are often used to enhance the overall position or navigation solution. The satellite-based systems are capable of correcting the drift er- rors from the inertial sensors in long-term measurements, but they have poor short-term solution and problems in indoors or harsh environments where the arrival of the satellite signals are quite challenging due to multipath or blockage of satellite signals among other errors. Therefore, the INS is also capable of helping the satellite system in dense urban environments or even in complete outages. This thesis proposes a GPS-aided foot-mounted pedes- trian dead reckoning (PDR) system to have an improved overall positioning solution, in short-term and in long-term measurements. The positioning fu- sion algorithm is a loosely coupling integration between a GPS receiver and a PDR module through a Kalman filter. The thesis tests the performance of the coupling in two environments: in a clear sky environment and in an urban environment. Fusion between inertial navigation systems (INS) and satellite-based sys- tems like GPS are often used to enhance the overall position or navigation solution. The satellite-based systems are capable of correcting the drift er- rors from the inertial sensors in long-term measurements, but they have poor short-term solution and problems in indoors or harsh environments where the arrival of the satellite signals are quite challenging due to multipath or blockage of satellite signals among other errors. Therefore, the INS is also capable of helping the satellite system in dense urban environments or even in complete outages. This thesis proposes a GPS-aided foot-mounted pedes- trian dead reckoning (PDR) system to have an improved overall positioning solution, in short-term and in long-term measurements. The positioning fu- sion algorithm is a loosely coupling integration between a GPS receiver and a PDR module through a Kalman filter. The thesis tests the performance of the coupling in two environments: in a clear sky environment and in an urban environment. Fusion between inertial navigation systems (INS) and satellite-based sys- tems like GPS are often used to enhance the overall position or navigation solution. The satellite-based systems are capable of correcting the drift er- rors from the inertial sensors in long-term measurements, but they have poor short-term solution and problems in indoors or harsh environments where the arrival of the satellite signals are quite challenging due to multipath or blockage of satellite signals among other errors. Therefore, the INS is also capable of helping the satellite system in dense urban environments or even in complete outages. This thesis proposes a GPS-aided foot-mounted pedes- trian dead reckoning (PDR) system to have an improved overall positioning solution, in short-term and in long-term measurements. The positioning fu- sion algorithm is a loosely coupling integration between a GPS receiver and a PDR module through a Kalman filter. The thesis tests the performance of the coupling in two environments: in a clear sky environment and in an urban environment.
Descripció
GPS as well as PDR systems are readily available information sources for pedestrian positioning with complementary properties. Consequently, a combined system promises an improved performance, especially for challenging scenarious in which one or both information sources is unreliable. Unfortunately, the strongly correlated and non-stationary errors of the high level GPS output (position fixes) gives rise to robustness and integrity issues in a naïve implementation. Further, since the errors are position dependent, these issues are amplified in a scenario where multiple ped
MatèriesNautical instruments, Artificial satellites in navigation, Navegació -- Aparells i instruments, Satèl·lits artificials en navegació
TitulacióENGINYERIA DE TELECOMUNICACIÓ (Pla 1992)
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KTHEEtitlepage_ex_exjobb.pdf | 5,916Mb | Visualitza/Obre |