Outlier rejection for reducing position error in navigation system based on multi sensors
A navigation system is critical for the operation of autonomous vehicles. Various sensors must be used to build navigation systems. To fuse multiple sensors, a highly advanced filter algorithm is required. Navigation systems have difficulties in signal-degraded scenarios, where the navigation soluti...
| Main Authors: | , , , , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2023-03-01
|
| Series: | Measurement + Control |
| Online Access: | https://doi.org/10.1177/00202940221095553 |
| _version_ | 1797859135656558592 |
|---|---|
| author | Dae-Hyeong Ji Sang-Ki Jeong Hyeung-Sik Choi Jung-Han Lee Sung-Hyub Ko Jong-Wu Hyeon Myung-Jun Kim |
| author_facet | Dae-Hyeong Ji Sang-Ki Jeong Hyeung-Sik Choi Jung-Han Lee Sung-Hyub Ko Jong-Wu Hyeon Myung-Jun Kim |
| author_sort | Dae-Hyeong Ji |
| collection | DOAJ |
| description | A navigation system is critical for the operation of autonomous vehicles. Various sensors must be used to build navigation systems. To fuse multiple sensors, a highly advanced filter algorithm is required. Navigation systems have difficulties in signal-degraded scenarios, where the navigation solution can be degraded by errors such as multipath and obscured signals. This paper proposes a navigation system using a technique to reject the outliers measured by sensors. The navigation system was designed to include sensor modeling, navigation filters, and outlier rejection. The sensors used in the navigation system are the accelerometer, gyroscope, magnetometer, and global positioning system. Before the experiment, a navigation simulation was performed to evaluate the results and validate the proposed navigation algorithm. The results of the experiment verified that the navigation system, including outlier rejection, had less positional error than that of the general navigation system. |
| first_indexed | 2024-04-09T21:25:36Z |
| format | Article |
| id | doaj.art-27f01c9cb8084620ac0ac6da0d853051 |
| institution | Directory Open Access Journal |
| issn | 0020-2940 |
| language | English |
| last_indexed | 2024-04-09T21:25:36Z |
| publishDate | 2023-03-01 |
| publisher | SAGE Publishing |
| record_format | Article |
| series | Measurement + Control |
| spelling | doaj.art-27f01c9cb8084620ac0ac6da0d8530512023-03-27T15:34:42ZengSAGE PublishingMeasurement + Control0020-29402023-03-015610.1177/00202940221095553Outlier rejection for reducing position error in navigation system based on multi sensorsDae-Hyeong Ji0Sang-Ki Jeong1Hyeung-Sik Choi2Jung-Han Lee3Sung-Hyub Ko4Jong-Wu Hyeon5Myung-Jun Kim6Marine Security and Safety Research Center, Korea Institute of Ocean Science & Technology, Busan, KoreaMaritime ICT R&D Center, Korea Institute of Ocean Science & Technology, Busan, KoreaDepartment of Mechanical Engineering, Korea Maritime and Ocean University, Busan, KoreaMarine Security and Safety Research Center, Korea Institute of Ocean Science & Technology, Busan, KoreaMarine Security and Safety Research Center, Korea Institute of Ocean Science & Technology, Busan, KoreaMarine Security and Safety Research Center, Korea Institute of Ocean Science & Technology, Busan, KoreaDepartment of Mechanical Engineering, Korea Maritime and Ocean University, Busan, KoreaA navigation system is critical for the operation of autonomous vehicles. Various sensors must be used to build navigation systems. To fuse multiple sensors, a highly advanced filter algorithm is required. Navigation systems have difficulties in signal-degraded scenarios, where the navigation solution can be degraded by errors such as multipath and obscured signals. This paper proposes a navigation system using a technique to reject the outliers measured by sensors. The navigation system was designed to include sensor modeling, navigation filters, and outlier rejection. The sensors used in the navigation system are the accelerometer, gyroscope, magnetometer, and global positioning system. Before the experiment, a navigation simulation was performed to evaluate the results and validate the proposed navigation algorithm. The results of the experiment verified that the navigation system, including outlier rejection, had less positional error than that of the general navigation system.https://doi.org/10.1177/00202940221095553 |
| spellingShingle | Dae-Hyeong Ji Sang-Ki Jeong Hyeung-Sik Choi Jung-Han Lee Sung-Hyub Ko Jong-Wu Hyeon Myung-Jun Kim Outlier rejection for reducing position error in navigation system based on multi sensors Measurement + Control |
| title | Outlier rejection for reducing position error in navigation system based on multi sensors |
| title_full | Outlier rejection for reducing position error in navigation system based on multi sensors |
| title_fullStr | Outlier rejection for reducing position error in navigation system based on multi sensors |
| title_full_unstemmed | Outlier rejection for reducing position error in navigation system based on multi sensors |
| title_short | Outlier rejection for reducing position error in navigation system based on multi sensors |
| title_sort | outlier rejection for reducing position error in navigation system based on multi sensors |
| url | https://doi.org/10.1177/00202940221095553 |
| work_keys_str_mv | AT daehyeongji outlierrejectionforreducingpositionerrorinnavigationsystembasedonmultisensors AT sangkijeong outlierrejectionforreducingpositionerrorinnavigationsystembasedonmultisensors AT hyeungsikchoi outlierrejectionforreducingpositionerrorinnavigationsystembasedonmultisensors AT junghanlee outlierrejectionforreducingpositionerrorinnavigationsystembasedonmultisensors AT sunghyubko outlierrejectionforreducingpositionerrorinnavigationsystembasedonmultisensors AT jongwuhyeon outlierrejectionforreducingpositionerrorinnavigationsystembasedonmultisensors AT myungjunkim outlierrejectionforreducingpositionerrorinnavigationsystembasedonmultisensors |