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http://dx.doi.org/10.12673/jant.2019.23.3.228

An Integrated Navigation System Combining INS and Ultrasonic-Speedometer to Overcome GPS-denied Area  

Choi, Bu-Sung (Department of Electronics and Information Engineering, Korea Aerospace University)
Yoo, Won-Jae (Department of Electronics and Information Engineering, Korea Aerospace University)
Kim, La-Woo (Department of Electronics and Information Engineering, Korea Aerospace University)
Lee, Yu-Dam (Department of Electronics and Information Engineering, Korea Aerospace University)
Lee, Hyung-Keun (Department of Electronics and Information Engineering, Korea Aerospace University)
Publication Information
Journal of Advanced Navigation Technology / v.23, no.3, 2019 , pp. 228-236 More about this Journal
Abstract
Recently, multi-sensor integration techniques have been actively studied to obtain reliable and accurate navigation solution in GPS (Global Positioning System)-denied harsh environments such as urban canyons, tunnels, and underground roads. In this paper, we propose a low-cost ultrasonic-speedometer utilizing the characteristics of the ultrasonic propagation. An efficient integrated INS (inertial navigation system)/ultrasonic-speedometer navigation system is also proposed to improve the accuracy of positioning in GPS-denied environments. To evaluate the proposed system, car experiments with field-collected measurements were performed. By the experiment results, it was confirmed that the proposed INS/ultrasonic-speedometer system bounds the positioning error growth effectively even though GPS signal is blocked more than 10 seconds and a low-cost MEMS IMU (micro electro mechanical systems inertial measurement unit) is utilized.
Keywords
GPS-denied area; INS; Ultrasonic-speedometer; Kalman filter; Positioning system;
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