Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Development of 3D CSGNSS/DR Integrated System for Precise Ground-Vehicle Trajectory Estimation

고정밀 차량 궤적 추정을 위한 3 차원 CSGNSS/DR 융합 시스템 개발

  • Yoo, Sang-Hoon (Department of Information and Communication Engineering, Chungnam National University) ;
  • Lim, Jeong-Min (Institute of Technology, WiFive Co. Ltd.) ;
  • Jeon, Jong-Hwa (Department of Information and Communication Engineering, Chungnam National University) ;
  • Sung, Tae-Kyung (Department of Information and Communication Engineering, Chungnam National University)
  • 유상훈 (충남대학교 정보통신공학과) ;
  • 임정민 (충남대학교 정보통신공학과) ;
  • 전종화 (충남대학교 정보통신공학과) ;
  • 성태경 (충남대학교 정보통신공학과)
  • Received : 2016.06.21
  • Accepted : 2016.10.07
  • Published : 2016.11.01
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Abstract

This paper presents a 3D carrier-smoothed GNSS/DR (Global Navigation Satellite System/Dead Reckoning) integrated system for precise ground-vehicle trajectory estimation. For precise DR navigation on sloping roads, the AHRS (Attitude Heading Reference System) methodology is employed. By combining the integrated carrier phase of GNSS and DR sensor measurements, a vehicle trajectory with an accuracy of less than 20cm is obtained even when cycle slip or change of visibility occur. In order to supplement the weak GNSS environment with DR successfully, the DR sensor is precisely compensated for using GNSS Doppler measurements when GNSS visibility is good. By integrating a multi-GNSS receiver with low-cost IMU, a precise 3D navigation system for land vehicles is proposed in this paper. For real-time implementation, a decoupled Kalman filter is employed in the integrated system. Through field experiments, the performance of the proposed system is verified in various road environments, including sloping roads, good-visibility areas, high multi-path areas, and under-ground parking areas.

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References

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