Sensor Fusion for Automotive Dead Reckoning Using GPS and IMU for Accurate Position and Velocity Estimation

Perumal, Lalith Prabu Nalla; Doss, Arockia Selvakumar Arockia

doi:10.1007/978-981-15-4488-0_8

“…[58] The DR location's primary pros are its low cost and easy for implementation. However, it suffers from some limitation including (1) the reference position should be determined and (2) accumulative errors [59].…”

Section: E Dead Reckoning Techniquementioning

confidence: 99%

“…A large variety of strategies are proposed to enhance localization accuracy by combining the beneficial characteristics of existing technologies and overcoming the limitations of a stand-alone technology. That includes the combination of (1) inertial sensors with Wi-Fi, Bluetooth, UWB and/or GNSS technologies [59], [129], [130], [134], UWB with Bluetooth [82] or with Wi-Fi technologies, satellite with cellular technology including LTE and 5G [61] and GNSS with BLE and inertial sensors [129]. Moreover, the cellular can be fused with Wi-Fi [121].…”

Section: Combined Technologiesmentioning

confidence: 99%

A Comprehensive Review of Indoor/Outdoor Localization Solutions in IoT era: Research Challenges and Future Perspectives

Asaad¹,

Maghdid²

2021

Preprint

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<p>The number of connected mobile devices and Internet of Things (IoT) is growing around us, rapidly. Since, most of the people daily activities are relying on these connected things or devices. Specifically, this past year (with COVID-19) changed daily life in abroad and this is increased the use of IoT enabled technologies in health sector, work, and play. Further, the most common service via using these technologies is the localization/positioning service for different applications including: geo-tagging, billing, contact tracing, health-care system, point-of-interest recommendations, social networking, security, and more. Despite the availability of a large number of localization solutions in the literature, the precision of localization cannot meet the needs of consumers. For that reason, this paper provides an in-depth investigation of the existing technologies and techniques in the localization field, within the IoT era. Furthermore, the benefits and drawbacks of each technique with enabled technologies are illustrated and a comparison between the utilized technologies in the localization is made. The paper as a guideline is also going through all of the metrics that may be used to assess the localization solutions. Finally, the state-of-the-art solutions are examined, with challenges and perspectives regarding indoors/outdoors environments are demonstrated.</p>

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“…[58] The DR location's primary pros are its low cost and easy for implementation. However, it suffers from some limitation including (1) the reference position should be determined and (2) accumulative errors [59].…”

Section: E Dead Reckoning Techniquementioning

confidence: 99%

“…A large variety of strategies are proposed to enhance localization accuracy by combining the beneficial characteristics of existing technologies and overcoming the limitations of a stand-alone technology. That includes the combination of (1) inertial sensors with Wi-Fi, Bluetooth, UWB and/or GNSS technologies [59], [129], [130], [134], UWB with Bluetooth [82] or with Wi-Fi technologies, satellite with cellular technology including LTE and 5G [61] and GNSS with BLE and inertial sensors [129]. Moreover, the cellular can be fused with Wi-Fi [121].…”

Section: Combined Technologiesmentioning

confidence: 99%

A Comprehensive Review of Indoor/Outdoor Localization Solutions in IoT era: Research Challenges and Future Perspectives

Asaad¹,

Maghdid²

2021

Preprint

View full text Add to dashboard Cite

<p>The number of connected mobile devices and Internet of Things (IoT) is growing around us, rapidly. Since, most of the people daily activities are relying on these connected things or devices. Specifically, this past year (with COVID-19) changed daily life in abroad and this is increased the use of IoT enabled technologies in health sector, work, and play. Further, the most common service via using these technologies is the localization/positioning service for different applications including: geo-tagging, billing, contact tracing, health-care system, point-of-interest recommendations, social networking, security, and more. Despite the availability of a large number of localization solutions in the literature, the precision of localization cannot meet the needs of consumers. For that reason, this paper provides an in-depth investigation of the existing technologies and techniques in the localization field, within the IoT era. Furthermore, the benefits and drawbacks of each technique with enabled technologies are illustrated and a comparison between the utilized technologies in the localization is made. The paper as a guideline is also going through all of the metrics that may be used to assess the localization solutions. Finally, the state-of-the-art solutions are examined, with challenges and perspectives regarding indoors/outdoors environments are demonstrated.</p>

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“…The efforts of many researchers have aimed at increasing the accuracy of so-called dead-reckoning algorithms [ 7 ], which can be used for temporary navigation in indoor and underground environments, densely built-up areas, or tunnels. An example of a sensor fusion technique developed for the purpose of accurate vehicle’s velocity and position estimation in urban areas can be found in [ 8 ]. The authors equipped a vehicle with steering direction and wheel-rotation sensors to enable tracking from the last location defined with the use of the Global Positioning System after losing connection with it.…”

Section: Introductionmentioning

confidence: 99%

Accuracy Evaluation of Selected Mobile Inspection Robot Localization Techniques in a GNSS-Denied Environment

Szrek

¹

,

Trybała

²

,

Góralczyk

³

et al. 2020

Sensors

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Locating an inspection robot is an essential task for inspection missions and spatial data acquisition. Giving a spatial reference to measurements, especially those concerning environmental parameters, e.g., gas concentrations may make them more valuable by enabling more insightful analyses. Thus, an accurate estimation of sensor position and orientation is a significant topic in mobile measurement systems used in robotics, remote sensing, or autonomous vehicles. Those systems often work in urban or underground conditions, which are lowering or disabling the possibility of using Global Navigation Satellite Systems (GNSS) for this purpose. Alternative solutions vary significantly in sensor configuration requirements, positioning accuracy, and computational complexity. The selection of the optimal solution is difficult. The focus here is put on the assessment, using the criterion of the positioning accuracy of the mobile robot with no use of GNSS signals. Automated geodetic surveying equipment is utilized for acquiring precise ground truth data of the robot’s movement. The results obtained, with the use of several methods, compared: Wheel odometry, inertial measurement-based dead-reckoning, visual odometry, and trilateration of ultra-wideband signals. The suitability, pros, and cons of each method are discussed in the context of their application in autonomous robotic systems, operating in an underground mine environment.

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Sensor Fusion for Automotive Dead Reckoning Using GPS and IMU for Accurate Position and Velocity Estimation

Cited by 6 publications

References 6 publications

A Comprehensive Review of Indoor/Outdoor Localization Solutions in IoT era: Research Challenges and Future Perspectives

A Comprehensive Review of Indoor/Outdoor Localization Solutions in IoT era: Research Challenges and Future Perspectives

A Comprehensive Review of Indoor/Outdoor Localization Solutions in IoT era: Research Challenges and Future Perspectives

Accuracy Evaluation of Selected Mobile Inspection Robot Localization Techniques in a GNSS-Denied Environment

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