1. Navigation Technology Using Inertial Elements to Compensate for GPS Signal-Shaded in Real Time
- Author
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Po-Chun Hsu, Ming-Cheng Kao, and Guo-Shing Huang
- Subjects
0209 industrial biotechnology ,Heading (navigation) ,business.industry ,Computer science ,020208 electrical & electronic engineering ,Gyroscope ,02 engineering and technology ,Accelerometer ,GPS signals ,law.invention ,Positioning technology ,020901 industrial engineering & automation ,law ,Real Time Kinematic ,Compass ,0202 electrical engineering, electronic engineering, information engineering ,Global Positioning System ,Computer vision ,Artificial intelligence ,business - Abstract
Nowadays, the development of GPS (Global Positioning System) technology has become mature, and has begun to develop in the direction of high-precision positioning and navigation. Navigation data such as position, speed, and heading provided by GPS are very important in military or commercial fields. However, in addition to improving the accuracy of positioning, its reliability must also be considered. Therefore, RTK (Real Time Kinematic) differential positioning technology is used to perform real-time error correction and basic inertial components consist of gyroscope, accelerometer, and magnetic compass are used to compensate and improve reliability. In this study, a car is used as a vehicle to experiment the route near the campus. The collected XYZ position coordinate data of the non-difference, differential positioning, and original vehicle are calculated by MATLAB offline operation to obtain $\lambda($longitude), $\Phi$ (latitude), h (height), and the data sensed by integrated inertial elements in the GPS signal shaded roads as auxiliary navigation, and then compare it with the existing and non-differential positioning methods to obtain a more optimized drawing path. The map achieves the compensation effect. In this study, the position of the shaded road is obtained by the second integration of the gyroscopic azimuth change and the heading angle of the magnetic compass through the accelerometer signal. The Extended Kalman Filter algorithm is used as its solution to estimate position, speed and heading of the vehicle in real time to achieve high accuracy and high reliability of real-time positioning and navigation.
- Published
- 2020
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