Optical and Mass Flow Sensors for Aiding Vehicle Navigation in GNSS Denied Environment
Nowadays, autonomous vehicles have achieved a lot of research interest regarding the navigation, the surrounding environmental perception, and control. Global Navigation Satellite System/Inertial Navigation System (GNSS/INS) is one of the significant components of any vehicle navigation system. Howe...
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| Format: | Article |
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MDPI AG
2020-11-01
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| Series: | Sensors |
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| Online Access: | https://www.mdpi.com/1424-8220/20/22/6567 |
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| author | Mohamed Moussa Shady Zahran Mostafa Mostafa Adel Moussa Naser El-Sheimy Mohamed Elhabiby |
| author_facet | Mohamed Moussa Shady Zahran Mostafa Mostafa Adel Moussa Naser El-Sheimy Mohamed Elhabiby |
| author_sort | Mohamed Moussa |
| collection | DOAJ |
| description | Nowadays, autonomous vehicles have achieved a lot of research interest regarding the navigation, the surrounding environmental perception, and control. Global Navigation Satellite System/Inertial Navigation System (GNSS/INS) is one of the significant components of any vehicle navigation system. However, GNSS has limitations in some operating scenarios such as urban regions and indoor environments where the GNSS signal suffers from multipath or outage. On the other hand, INS standalone navigation solution degrades over time due to the INS errors. Therefore, a modern vehicle navigation system depends on integration between different sensors to aid INS for mitigating its drift during GNSS signal outage. However, there are some challenges for the aiding sensors related to their high price, high computational costs, and environmental and weather effects. This paper proposes an integrated aiding navigation system for vehicles in an indoor environment (e.g., underground parking). This proposed system is based on optical flow and multiple mass flow sensors integrations to aid the low-cost INS by providing the navigation extended Kalman filter (EKF) with forward velocity and change of heading updates to enhance the vehicle navigation. The optical flow is computed for frames taken using a consumer portable device (CPD) camera mounted in the upward-looking direction to avoid moving objects in front of the camera and to exploit the typical features of the underground parking or tunnels such as ducts and pipes. On the other hand, the multiple mass flow sensors measurements are modeled to provide forward velocity information. Moreover, a mass flow differential odometry is proposed where the vehicle change of heading is estimated from the multiple mass flow sensors measurements. This integrated aiding system can be used for unmanned aerial vehicles (UAV) and land vehicle navigations. However, the experimental results are implemented for land vehicles through the integration of CPD with mass flow sensors to aid the navigation system. |
| first_indexed | 2024-03-10T14:47:35Z |
| format | Article |
| id | doaj.art-43a916a6a6b644948aba533d13817883 |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-03-10T14:47:35Z |
| publishDate | 2020-11-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-43a916a6a6b644948aba533d138178832023-11-20T21:15:40ZengMDPI AGSensors1424-82202020-11-012022656710.3390/s20226567Optical and Mass Flow Sensors for Aiding Vehicle Navigation in GNSS Denied EnvironmentMohamed Moussa0Shady Zahran1Mostafa Mostafa2Adel Moussa3Naser El-Sheimy4Mohamed Elhabiby5Department of Geomatics Engineering, University of Calgary, Calgary, AB T2N 1N4, CanadaDepartment of Geomatics Engineering, University of Calgary, Calgary, AB T2N 1N4, CanadaDepartment of Geomatics Engineering, University of Calgary, Calgary, AB T2N 1N4, CanadaDepartment of Geomatics Engineering, University of Calgary, Calgary, AB T2N 1N4, CanadaDepartment of Geomatics Engineering, University of Calgary, Calgary, AB T2N 1N4, CanadaPublic Works Department, Ain Shams University, Cairo 11517, EgyptNowadays, autonomous vehicles have achieved a lot of research interest regarding the navigation, the surrounding environmental perception, and control. Global Navigation Satellite System/Inertial Navigation System (GNSS/INS) is one of the significant components of any vehicle navigation system. However, GNSS has limitations in some operating scenarios such as urban regions and indoor environments where the GNSS signal suffers from multipath or outage. On the other hand, INS standalone navigation solution degrades over time due to the INS errors. Therefore, a modern vehicle navigation system depends on integration between different sensors to aid INS for mitigating its drift during GNSS signal outage. However, there are some challenges for the aiding sensors related to their high price, high computational costs, and environmental and weather effects. This paper proposes an integrated aiding navigation system for vehicles in an indoor environment (e.g., underground parking). This proposed system is based on optical flow and multiple mass flow sensors integrations to aid the low-cost INS by providing the navigation extended Kalman filter (EKF) with forward velocity and change of heading updates to enhance the vehicle navigation. The optical flow is computed for frames taken using a consumer portable device (CPD) camera mounted in the upward-looking direction to avoid moving objects in front of the camera and to exploit the typical features of the underground parking or tunnels such as ducts and pipes. On the other hand, the multiple mass flow sensors measurements are modeled to provide forward velocity information. Moreover, a mass flow differential odometry is proposed where the vehicle change of heading is estimated from the multiple mass flow sensors measurements. This integrated aiding system can be used for unmanned aerial vehicles (UAV) and land vehicle navigations. However, the experimental results are implemented for land vehicles through the integration of CPD with mass flow sensors to aid the navigation system.https://www.mdpi.com/1424-8220/20/22/6567inertial navigation systemoptical flowmass air flowdifferential odometry |
| spellingShingle | Mohamed Moussa Shady Zahran Mostafa Mostafa Adel Moussa Naser El-Sheimy Mohamed Elhabiby Optical and Mass Flow Sensors for Aiding Vehicle Navigation in GNSS Denied Environment Sensors inertial navigation system optical flow mass air flow differential odometry |
| title | Optical and Mass Flow Sensors for Aiding Vehicle Navigation in GNSS Denied Environment |
| title_full | Optical and Mass Flow Sensors for Aiding Vehicle Navigation in GNSS Denied Environment |
| title_fullStr | Optical and Mass Flow Sensors for Aiding Vehicle Navigation in GNSS Denied Environment |
| title_full_unstemmed | Optical and Mass Flow Sensors for Aiding Vehicle Navigation in GNSS Denied Environment |
| title_short | Optical and Mass Flow Sensors for Aiding Vehicle Navigation in GNSS Denied Environment |
| title_sort | optical and mass flow sensors for aiding vehicle navigation in gnss denied environment |
| topic | inertial navigation system optical flow mass air flow differential odometry |
| url | https://www.mdpi.com/1424-8220/20/22/6567 |
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