Low-Cost Real-Time PPP/INS Integration for Automated Land Vehicles
The last decade has witnessed a growing demand for precise positioning in many applications including car navigation. Navigating automated land vehicles requires at least sub-meter level positioning accuracy with the lowest possible cost. The Global Navigation Satellite System (GNSS) Single-Frequenc...
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| Format: | Article |
| Language: | English |
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MDPI AG
2019-11-01
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| Series: | Sensors |
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| Online Access: | https://www.mdpi.com/1424-8220/19/22/4896 |
| _version_ | 1797417419232247808 |
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| author | Mohamed Elsheikh Walid Abdelfatah Aboelmagd Noureldin Umar Iqbal Michael Korenberg |
| author_facet | Mohamed Elsheikh Walid Abdelfatah Aboelmagd Noureldin Umar Iqbal Michael Korenberg |
| author_sort | Mohamed Elsheikh |
| collection | DOAJ |
| description | The last decade has witnessed a growing demand for precise positioning in many applications including car navigation. Navigating automated land vehicles requires at least sub-meter level positioning accuracy with the lowest possible cost. The Global Navigation Satellite System (GNSS) Single-Frequency Precise Point Positioning (SF-PPP) is capable of achieving sub-meter level accuracy in benign GNSS conditions using low-cost GNSS receivers. However, SF-PPP alone cannot be employed for land vehicles due to frequent signal degradation and blockage. In this paper, real-time SF-PPP is integrated with a low-cost consumer-grade Inertial Navigation System (INS) to provide a continuous and precise navigation solution. The PPP accuracy and the applied estimation algorithm contributed to reducing the effects of INS errors. The system was evaluated through two road tests which included open-sky, suburban, momentary outages, and complete GNSS outage conditions. The results showed that the developed PPP/INS system maintained horizontal sub-meter Root Mean Square (RMS) accuracy in open-sky and suburban environments. Moreover, the PPP/INS system could provide a continuous real-time positioning solution within the lane the vehicle is moving in. This lane-level accuracy was preserved even when passing under bridges and overpasses on the road. The developed PPP/INS system is expected to benefit low-cost precise land vehicle navigation applications including level 2 of vehicle automation which comprises services such as lane departure warning and lane-keeping assistance. |
| first_indexed | 2024-03-09T06:18:31Z |
| format | Article |
| id | doaj.art-1e2c0789fa354f64a681b4c6c3cb0391 |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-03-09T06:18:31Z |
| publishDate | 2019-11-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-1e2c0789fa354f64a681b4c6c3cb03912023-12-03T11:50:13ZengMDPI AGSensors1424-82202019-11-011922489610.3390/s19224896s19224896Low-Cost Real-Time PPP/INS Integration for Automated Land VehiclesMohamed Elsheikh0Walid Abdelfatah1Aboelmagd Noureldin2Umar Iqbal3Michael Korenberg4Electrical and Computer Engineering Department, Queen’s University, Kingston, ON K7L 3N6, CanadaProfound Positioning Inc., Calgary, AB T2P 3G3, CanadaElectrical and Computer Engineering Department, Queen’s University, Kingston, ON K7L 3N6, CanadaElectrical and Computer Engineering Department, Mississippi State University, Starkville, MS 39762, USAElectrical and Computer Engineering Department, Queen’s University, Kingston, ON K7L 3N6, CanadaThe last decade has witnessed a growing demand for precise positioning in many applications including car navigation. Navigating automated land vehicles requires at least sub-meter level positioning accuracy with the lowest possible cost. The Global Navigation Satellite System (GNSS) Single-Frequency Precise Point Positioning (SF-PPP) is capable of achieving sub-meter level accuracy in benign GNSS conditions using low-cost GNSS receivers. However, SF-PPP alone cannot be employed for land vehicles due to frequent signal degradation and blockage. In this paper, real-time SF-PPP is integrated with a low-cost consumer-grade Inertial Navigation System (INS) to provide a continuous and precise navigation solution. The PPP accuracy and the applied estimation algorithm contributed to reducing the effects of INS errors. The system was evaluated through two road tests which included open-sky, suburban, momentary outages, and complete GNSS outage conditions. The results showed that the developed PPP/INS system maintained horizontal sub-meter Root Mean Square (RMS) accuracy in open-sky and suburban environments. Moreover, the PPP/INS system could provide a continuous real-time positioning solution within the lane the vehicle is moving in. This lane-level accuracy was preserved even when passing under bridges and overpasses on the road. The developed PPP/INS system is expected to benefit low-cost precise land vehicle navigation applications including level 2 of vehicle automation which comprises services such as lane departure warning and lane-keeping assistance.https://www.mdpi.com/1424-8220/19/22/4896PPPGNSSlow-cost sensorsPPP/INS integrationvehicle navigationautomated vehicles |
| spellingShingle | Mohamed Elsheikh Walid Abdelfatah Aboelmagd Noureldin Umar Iqbal Michael Korenberg Low-Cost Real-Time PPP/INS Integration for Automated Land Vehicles Sensors PPP GNSS low-cost sensors PPP/INS integration vehicle navigation automated vehicles |
| title | Low-Cost Real-Time PPP/INS Integration for Automated Land Vehicles |
| title_full | Low-Cost Real-Time PPP/INS Integration for Automated Land Vehicles |
| title_fullStr | Low-Cost Real-Time PPP/INS Integration for Automated Land Vehicles |
| title_full_unstemmed | Low-Cost Real-Time PPP/INS Integration for Automated Land Vehicles |
| title_short | Low-Cost Real-Time PPP/INS Integration for Automated Land Vehicles |
| title_sort | low cost real time ppp ins integration for automated land vehicles |
| topic | PPP GNSS low-cost sensors PPP/INS integration vehicle navigation automated vehicles |
| url | https://www.mdpi.com/1424-8220/19/22/4896 |
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