Real-time precision pedestrian navigation solution using Inertial Navigation System and Global Positioning System
Global Positioning System and Inertial Navigation System can be used to determine position and velocity. A Global Positioning System module is able to accurately determine position without sensor drift, but its usage is limited in heavily urbanized environments and heavy vegetation. While high-cost...
| Main Authors: | , , , |
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| Format: | Journal Article |
| Language: | English |
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2015
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| Online Access: | https://hdl.handle.net/10356/80997 http://hdl.handle.net/10220/39021 |
| _version_ | 1811679247407775744 |
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| author | Yoon, Yong-Jin Li, King Ho Holden Lee, Jiahe Steven Park, Woo-Tae |
| author2 | School of Mechanical and Aerospace Engineering |
| author_facet | School of Mechanical and Aerospace Engineering Yoon, Yong-Jin Li, King Ho Holden Lee, Jiahe Steven Park, Woo-Tae |
| author_sort | Yoon, Yong-Jin |
| collection | NTU |
| description | Global Positioning System and Inertial Navigation System can be used to determine position and velocity. A Global Positioning System module is able to accurately determine position without sensor drift, but its usage is limited in heavily urbanized environments and heavy vegetation. While high-cost tactical-grade Inertial Navigation System can determine position accurately, low-cost micro-electro-mechanical system Inertial Navigation System sensors are plagued by significant errors. Global Positioning System is coupled with Inertial Navigation System to correct the errors, while Inertial Navigation System itself can be used to provide navigation solution during a Global Positioning System outage. Data from Global Positioning System and Inertial Navigation System can be integrated by extensive Kalman filtering, using loosely coupled integration architecture to provide navigation solutions. In this study, real-time low-cost loosely coupled micro-electro-mechanical system Inertial Navigation System/Global Positioning System sensors have been used for pedestrian navigation. Trial runs of Global Positioning System outages have been conducted to determine the accuracy of the system described. The micro-electro-mechanical system Inertial Navigation System/Global Positioning System can successfully project a trajectory during a Global Positioning System outage and produces a root mean square error of 9.35 m in latitude direction and 10.8 m in longitude direction. This technology is very suitable for visually impaired pedestrians. |
| first_indexed | 2024-10-01T03:06:07Z |
| format | Journal Article |
| id | ntu-10356/80997 |
| institution | Nanyang Technological University |
| language | English |
| last_indexed | 2024-10-01T03:06:07Z |
| publishDate | 2015 |
| record_format | dspace |
| spelling | ntu-10356/809972023-03-04T17:14:08Z Real-time precision pedestrian navigation solution using Inertial Navigation System and Global Positioning System Yoon, Yong-Jin Li, King Ho Holden Lee, Jiahe Steven Park, Woo-Tae School of Mechanical and Aerospace Engineering Inertial Navigation System Global Positioning System Loosely coupled Extended Kalman filtering Inertial navigation Global Positioning System and Inertial Navigation System can be used to determine position and velocity. A Global Positioning System module is able to accurately determine position without sensor drift, but its usage is limited in heavily urbanized environments and heavy vegetation. While high-cost tactical-grade Inertial Navigation System can determine position accurately, low-cost micro-electro-mechanical system Inertial Navigation System sensors are plagued by significant errors. Global Positioning System is coupled with Inertial Navigation System to correct the errors, while Inertial Navigation System itself can be used to provide navigation solution during a Global Positioning System outage. Data from Global Positioning System and Inertial Navigation System can be integrated by extensive Kalman filtering, using loosely coupled integration architecture to provide navigation solutions. In this study, real-time low-cost loosely coupled micro-electro-mechanical system Inertial Navigation System/Global Positioning System sensors have been used for pedestrian navigation. Trial runs of Global Positioning System outages have been conducted to determine the accuracy of the system described. The micro-electro-mechanical system Inertial Navigation System/Global Positioning System can successfully project a trajectory during a Global Positioning System outage and produces a root mean square error of 9.35 m in latitude direction and 10.8 m in longitude direction. This technology is very suitable for visually impaired pedestrians. Published version 2015-12-10T01:44:51Z 2019-12-06T14:19:11Z 2015-12-10T01:44:51Z 2019-12-06T14:19:11Z 2015 Journal Article Yoon, Y.-J., Li, K. H. H., Lee, J. S., & Park, W.-T. (2015). Real-time precision pedestrian navigation solution using Inertial Navigation System and Global Positioning System. Advances in Mechanical Engineering, 7(3). 1687-8132 https://hdl.handle.net/10356/80997 http://hdl.handle.net/10220/39021 10.1177/1687814014568501 en Advances in Mechanical Engineering Creative Commons CC-BY: This article is distributed under the terms of the Creative Commons Attribution 3.0 License (http://www.creativecommons.org/licenses/by/3.0/) which permits any use, reproduction and distribution of the work without further permission provided the original work is attributed as specified on the SAGE and Open Access pages (http://www.uk.sagepub.com/aboutus/openaccess.htm). 9 p. application/pdf |
| spellingShingle | Inertial Navigation System Global Positioning System Loosely coupled Extended Kalman filtering Inertial navigation Yoon, Yong-Jin Li, King Ho Holden Lee, Jiahe Steven Park, Woo-Tae Real-time precision pedestrian navigation solution using Inertial Navigation System and Global Positioning System |
| title | Real-time precision pedestrian navigation solution using Inertial Navigation System and Global Positioning System |
| title_full | Real-time precision pedestrian navigation solution using Inertial Navigation System and Global Positioning System |
| title_fullStr | Real-time precision pedestrian navigation solution using Inertial Navigation System and Global Positioning System |
| title_full_unstemmed | Real-time precision pedestrian navigation solution using Inertial Navigation System and Global Positioning System |
| title_short | Real-time precision pedestrian navigation solution using Inertial Navigation System and Global Positioning System |
| title_sort | real time precision pedestrian navigation solution using inertial navigation system and global positioning system |
| topic | Inertial Navigation System Global Positioning System Loosely coupled Extended Kalman filtering Inertial navigation |
| url | https://hdl.handle.net/10356/80997 http://hdl.handle.net/10220/39021 |
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