Adaptive Covariance Estimation Method for LiDAR-Aided Multi-Sensor Integrated Navigation Systems

Liu, Shifei; Atia, Mohamed; Gao, Yanbin; Noureldin, Aboelmagd

doi:10.3390/mi6020196

Cited by 13 publications

(9 citation statements)

References 29 publications

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“…For quality communication, these systems have scalability and security as objectives [ 27 , 28 ]. Tele-command is very important [ 28 ], even though its functionalities are due to its sensors; the video Infra-Red/Electro-Optical (IR/EO) devices and any other attached devices allow the sampling of data [ 29 , 30 , 31 ]. The navigation system of a robot is a non-structured environment that uses path planning, obstacle avoidance and circumnavigating, localization, and perceptive interpretation techniques.…”

Section: Configuration Of the Intervention Robotmentioning

confidence: 99%

A Dynamic Motion Analysis of a Six-Wheel Ground Vehicle for Emergency Intervention Actions

Grigore

Gorgoteanu

Molder

et al. 2021

Sensors

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To protect the personnel of the intervention units operating in high-risk areas, it is necessary to introduce (autonomous/semi-autonomous) robotic intervention systems. Previous studies have shown that robotic intervention systems should be as versatile as possible. Here, we focused on the idea of a robotic system composed of two vectors: a carrier vector and an operational vector. The proposed system particularly relates to the carrier vector. A simple analytical model was developed to enable the entire robotic assembly to be autonomous. To validate the analytical-numerical model regarding the kinematics and dynamics of the carrier vector, two of the following applications are presented: intervention for extinguishing a fire and performing measurements for monitoring gamma radiation in a public enclosure. The results show that the chosen carrier vector solution, i.e., the ground vehicle with six-wheel drive, satisfies the requirements related to the mobility of the robotic intervention system. In addition, the conclusions present the elements of the kinematics and dynamics of the robot.

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Section: Configuration Of the Intervention Robotmentioning

confidence: 99%

A Dynamic Motion Analysis of a Six-Wheel Ground Vehicle for Emergency Intervention Actions

Grigore

Gorgoteanu

Molder

et al. 2021

Sensors

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“…Except for the traditional EKF signal estimation and processing technology for improving the surveying precision of the intelligent PIG, the nonlinear signal filter and estimation algorithms such as the Unscented Kalman Filter (UKF), Particle Filter (PF), Cubature Kalman Filter (CKF) and their adaptive estimation algorithms are widely used in the navigation of vehicles, shipborne and aerospace fields [ 89 , 90 , 91 , 92 ]. In addition, the Two-Filter Smoother (TFS) and the RTSS are also adopted for the offline process to improve the precision of the PIG surveying system [ 93 , 94 , 95 ].…”

Section: Trends and Challenges For Small-diameter Intelligent Pig mentioning

confidence: 99%

A Comprehensive Review of Micro-Inertial Measurement Unit Based Intelligent PIG Multi-Sensor Fusion Technologies for Small-Diameter Pipeline Surveying

et al. 2020

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It is of great importance for pipeline systems to be is efficient, cost-effective and safe during the transportation of the liquids and gases. However, underground pipelines often experience leaks due to corrosion, human destruction or theft, long-term Earth movement, natural disasters and so on. Leakage or explosion of the operating pipeline usually cause great economical loss, environmental pollution or even a threat to citizens, especially when these accidents occur in human-concentrated urban areas. Therefore, the surveying of the routed pipeline is of vital importance for the Pipeline Integrated Management (PIM). In this paper, a comprehensive review of the Micro-Inertial Measurement Unit (MIMU)-based intelligent Pipeline Inspection Gauge (PIG) multi-sensor fusion technologies for the transport of liquids and gases purposed for small-diameter pipeline (D<30cm) surveying is demonstrated. Firstly, four types of typical small-diameter intelligent PIGs and their corresponding pipeline-defects inspection technologies and defects-positioning technologies are investigated according to the various pipeline defects inspection and localization principles. Secondly, the multi-sensor fused pipeline surveying technologies are classified into two main categories, the non-inertial-based and the MIMU-based intelligent PIG surveying technology. Moreover, five schematic diagrams of the MIMU fused intelligent PIG fusion technology is also surveyed and analyzed with details. Thirdly, the potential research directions and challenges of the popular intelligent PIG surveying techniques by multi-sensor fusion system are further presented with details. Finally, the review is comprehensively concluded and demonstrated.

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“…In our earlier works [ 13 ] and [ 30 ], we respectively implemented tightly coupled and loosely coupled INS and LiDAR integration with feature-based scan matching method for 2D indoor navigation. The feature-based scan matching method is efficient and accurate.…”

Section: Literature Reviewmentioning

confidence: 99%

INS/GPS/LiDAR Integrated Navigation System for Urban and Indoor Environments Using Hybrid Scan Matching Algorithm

Gao

Liu

Atia

et al. 2015

Sensors

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139

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This paper takes advantage of the complementary characteristics of Global Positioning System (GPS) and Light Detection and Ranging (LiDAR) to provide periodic corrections to Inertial Navigation System (INS) alternatively in different environmental conditions. In open sky, where GPS signals are available and LiDAR measurements are sparse, GPS is integrated with INS. Meanwhile, in confined outdoor environments and indoors, where GPS is unreliable or unavailable and LiDAR measurements are rich, LiDAR replaces GPS to integrate with INS. This paper also proposes an innovative hybrid scan matching algorithm that combines the feature-based scan matching method and Iterative Closest Point (ICP) based scan matching method. The algorithm can work and transit between two modes depending on the number of matched line features over two scans, thus achieving efficiency and robustness concurrently. Two integration schemes of INS and LiDAR with hybrid scan matching algorithm are implemented and compared. Real experiments are performed on an Unmanned Ground Vehicle (UGV) for both outdoor and indoor environments. Experimental results show that the multi-sensor integrated system can remain sub-meter navigation accuracy during the whole trajectory.

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Adaptive Covariance Estimation Method for LiDAR-Aided Multi-Sensor Integrated Navigation Systems

Cited by 13 publications

References 29 publications

A Dynamic Motion Analysis of a Six-Wheel Ground Vehicle for Emergency Intervention Actions

A Dynamic Motion Analysis of a Six-Wheel Ground Vehicle for Emergency Intervention Actions

A Comprehensive Review of Micro-Inertial Measurement Unit Based Intelligent PIG Multi-Sensor Fusion Technologies for Small-Diameter Pipeline Surveying

INS/GPS/LiDAR Integrated Navigation System for Urban and Indoor Environments Using Hybrid Scan Matching Algorithm

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