Browse > Article
http://dx.doi.org/10.11003/JPNT.2020.9.4.387

Tightly-Coupled GPS/INS/Ultrasonic-Speedometer/Barometer Integrated Positioning for GPS-Denied Environments  

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, Lawoo (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 Positioning, Navigation, and Timing / v.9, no.4, 2020 , pp. 387-395 More about this Journal
Abstract
Accuracy of an integrated Global Positioning System (GPS) / Inertial Navigation System (INS) relies heavily on the visibility of GPS satellites. Especially, its accuracy is dramatically degraded in urban canyon due to signal obstructions due to large structures. In this paper, we propose a new integrated positioning system that effectively combines INS, GPS, ultrasonic sensor, and barometer in GPS-denied environments. In the proposed system, the ultrasonic sensor provides velocity information along the forward direction of moving vehicle. The barometer output provides height information compensated for the pressure variation due to fast vehicle movements. To evaluate the performance of the proposed system, an experiment was carried out by mounting the proposed system on a test car. By the experiment result, it was confirmed that the proposed system bears good potential to maintain positioning accuracy in harsh urban environments.
Keywords
GPS-denied environment; Kalman filter; positioning system; ultrasonic speedometer; altimeter;
Citations & Related Records
Times Cited By KSCI : 3  (Citation Analysis)
연도 인용수 순위
1 Bosch Sensortec, BMP180 Data sheet [Internet], cited 2015 May 7, available from: https://ae-bst.resource.bosch.com/media/_tech/media/datasheets/BST-BMP180-DS000.pdf
2 Choi, B. S. 2020, Design of Integrated Navigation System Based on Multiple Sensors for GPS-Degraded Environments, M.S. Dissertation, Korea Aerospace University.
3 Hagisonic, Ultrasonic Sensor Module for a Robot Datasheet [Internet], cited 2010 Dec 14, available from: http://www.hagisonic.com
4 Han, J., Yoon, S., Lee, B., Lee, Y., & Sung, S. 2013, Research of magnetometer correction algorithm and verification using test data for INS/GPS/Magnetometer integrated navigation, in the Fall Conference of The Korean Society For Aeronautical And Space Sciences, Jeju, Nov 2013, pp.1339-1344
5 InvenSense, MPU-6000 and MPU-6050 Product Specification Revision 3.4 [Internet], cited 2013 Aug 19, available from: https://invensense.tdk.com/wpcontent/uploads/2015/02/MPU-6000-Datasheet1.pdf
6 Jeong, H., Yang, S., Kim, S., & Suk, J. 2018, A barometric altitude sensor and Laser Range finder fusion by using Kalman filter and comparison with Pixhawk measurement, in the Korean Society for Aeronautical & Space Sciences 2018 Spring Conference, Goseong, April 2018, pp.210-212.
7 Kim, L. W. 2017, Integrated GPS/BeiDou/Altimeter Based on Hatch Filter, M.S. dissertation, Korea Aerospace University.
8 Kim, Y. S. 2016, A Study on Cycle Slip Detection of Single Frequency GNSS Receiver using Low Cost INS, Ph. D. dissertation, Seoul National University.
9 Lee, H. & Shim, J. 2006, Performance Evaluation of GAFAS Software Package for Real-Time Kinematic Differential GPS/GNSS, in the Korean Navigation Institute Workshop, Goyang, Oct 2006, pp.273-278
10 Lee, H. K., Lee, J. G., Roh, Y. K., & Park, C. G. 1998, Modeling quaternion errors in SDINS: computer frame approach, IEEE Transactions on Aerospace and Electronic Systems, 34, 289-300. https://doi.org/10.1109/7.640286   DOI
11 Lee, H. K. & Rizos, C. 2008, Position-Domain Hatch Filter for Kinematic Differential GPS/GNSS, IEEE Transactions on Aerospace and Electronic Systems, 44, 30-40. https://doi.org/10.1109/TAES.2008.4516987   DOI
12 Lee, J. Y. 2015, Relative INS/GPS Integrated Navigation System based on Adaptive Filtering, Ph. D. dissertation, Korea Aerospace University.
13 Lim, J. H. 2017, Design of GNSS/MEMS-IMU/OBD-II/Altimeter Integrated Navigation System for GNSS Denied, Ph. D. dissertation, Korea Aerospace University.
14 NovAtel, ProPak6 Product Sheet [Internet], cited 2015 Nov 30, available from: https://novatel.com/support/previous-generation-products-drop-down/previousgeneration-products/propak6-receiver
15 Oliveira, A. F. G. P. 2012, The effect of wind and turbulence on sound propagation in the atmosphere, M.S. dissertation, Technical University of Lisbon, Lisbon, Portugal.
16 Park, C. G. 2018, High precision/High reliability Integrated Navigation of the Lunar Lander: National Digital Science Library, Space Core Technology Development Project Final Report, 2013M1A3A3A02042468
17 Park, Y. B. 2001, Design of Integrated INS/GPS/Odometer Navigation System and Its Performance Analysis, M.S. dissertation, Seoul National University.
18 Salomons, E. M. 2001, Computational Atmospheric Acoustics (Amsterdam: Kluwer Academic Publishers)
19 Ublox, AEK-4P, AEK-4H, AEK-4T ANTARIS 4 Evaluation Kits Automotive, Mobile Terminal and Infrastructure Applications [Internet], cited 2006 Aug 5, available from: https://datasheet.datasheetarchive.com/originals/library/Datasheet-035/DSA007928.pdf
20 You, H., Lee, E., Lee, Y., Jee, G., Nam, G., et al. 2005, Time Difference Characteristics of GPS Carrier Phase, Journal of the Korean Society for Aeronautical & Space Sciences, 33, 66-72. https://doi.org/10.5139/JKSAS.2005.33.9.066   DOI
21 Yoo, T.-S., Kim, M.-H., Yoon, S.-I., & Kim, D.-J. 2019, Design of Tightly Coupled INS/DVL/RPM Integrated Navigation System, Journal of Ocean Engineering and Technology, 33, 470-478. https://doi.org/10.26748/KSOE.2019.085   DOI