[KSCI] Korea Science Citation Index Service

http://dx.doi.org/10.11003/JPNT.2017.6.4.181

Pseudolite/Ultra-low-cost IMU Integrated Robust Indoor Navigation System Through Real-time Cycle Slip Detection and Compensation

Kim, Moon Ki (Mechanical and Aerospace Engineering and the Institute of Advanced Aerospace Technology, Seoul National University)
Kim, O-Jong (Mechanical and Aerospace Engineering and the Institute of Advanced Aerospace Technology, Seoul National University)
Kim, Youn Sil (SBAS Technology Development Team, Korea Aerospace Research Institute)
Jeon, Sang Hoon (Mechanical and Aerospace Engineering and the Institute of Advanced Aerospace Technology, Seoul National University)
No, Hee Kwon (Mechanical and Aerospace Engineering and the Institute of Advanced Aerospace Technology, Seoul National University)
Shin, Beom Ju (Mechanical and Aerospace Engineering and the Institute of Advanced Aerospace Technology, Seoul National University)
Kim, Jung Beom (Mechanical and Aerospace Engineering and the Institute of Advanced Aerospace Technology, Seoul National University)
Kee, Changdon (Mechanical and Aerospace Engineering and the Institute of Advanced Aerospace Technology, Seoul National University)

Publication Information

Journal of Positioning, Navigation, and Timing / v.6, no.4, 2017 , pp. 181-194 More about this Journal

Abstract

In recent years, research has been actively conducted on the navigation in an indoor environment where Global Navigation Satellite System signals are unavailable. Among them, a study performed indoor navigation by integrating pseudolite carrier and Inertial Measurement Unit (IMU) sensor. However, in this case, there was no solution for the cycle slip occurring in the carrier. In another study, cycle slip detection and compensation were performed by integrating Global Positioning System (GPS) and IMU in an outdoor environment. However, in an indoor environment, cycle slip occurs more easily and frequently, and thus the occurrence of half cycle slip also increases. Accordingly, cycle slip detection based on 1 cycle unit has limitations. Therefore, in the present study, the aforementioned problems were resolved by performing indoor navigation through the integration of pseudolite and ultra-low-cost IMU embedded in a smartphone and by performing half cycle slip detection and compensation based on this. In addition, it was verified through the actual implementation of real-time navigation.

Keywords

real-time indoor navigation; 2D pseudolite/ultra-low-cost IMU integration; half cycle slip detection and compensation; smart phone;

Citations & Related Records

Reference

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