Abstract
Abstract. Recently, many companies and research centres have been working on research and development of navigation technologies for self-driving cars. Many navigation technologies were developed based on the fusion of various sensors. However, most of these techniques used expensive sensors and consequently increase the overall cost of such cars. Therefore, low-cost sensors are now a rich research topic in land vehicle navigation. Consumer Portable Devices (CPDs) such as smartphones and tablets are being widely used and contain many sensors (e.g. cameras, barometers, magnetometers, accelerometers, gyroscopes, and GNSS receivers) that can be used in the land vehicle navigation applications.This paper investigates various land vehicle navigation systems based on low-cost self-contained inertial sensors in CPD, vehicle information and on-board sensors with a focus on GNSS denied environment. Vehicle motion information such as forward speed is acquired from On-Board Diagnosis II (OBD-II) while the land vehicle heading change is estimated using CPD attached to the steering wheel. Additionally, a low-cost on-board GNSS/inertial integrated system is also employed. The paper investigates many navigation schemes such as different Dead Reckoning (DR) systems, Reduced Inertial Sensor System (RISS) based systems, and aided loosely coupled GNSS/inertial integrated system.An experimental road test is performed, and different simulated GNSS signal outages were applied to the data. The results show that the modified RISS system based on OBD-II velocity, onboard gyroscopes, accelerometers, and CPD-based heading change provides a better navigation estimation than the typical RISS system for 90s GNSS signal outage. On the other hand, typical inertial aided with CPD heading change, OBD-II velocity updates, and Non-Holonomic Constraint (NHC) provide the best navigation result.
Highlights
Global Navigation Satellite System (GNSS) is the most commonly used navigation component in land vehicles where it provides a long-term accurate estimate for position and velocity states (Aggarwal et al, 2008)
The methodology consists of five subsections: land vehicle heading change estimation using Consumer Portable Devices (CPDs) accelerometers, Dead Reckoning (DR) navigation system based on heading change estimated by CPD accelerometers and On-Board Diagnosis II (OBD-II) velocity, DR navigation system with gyroscope updates, 3D Reduced Inertial Sensor System (RISS), and typical loosely coupled GNSS/Inertial Navigation System (INS) with CPD heading change and OBD-II velocity updates during GNSS signal outage
An experimental real data set was collected using Pixhawk 4 board which consists of a GNSS u-blox Neo-M8N receiver and ICM-20689 Invensense low-cost IMU in which its x-axis coincides with the forward vehicle direction
Summary
Global Navigation Satellite System (GNSS) is the most commonly used navigation component in land vehicles where it provides a long-term accurate estimate for position and velocity states (Aggarwal et al, 2008). Inertial Navigation System (INS) provides reliable short-term full navigation estimates (position, velocity, and attitudes) for land vehicles (Iqbal et al, 2010). GNSS and INS are integrated to overcome the shortcomings of each sensor and to provide a more reliable navigation solution in both short and long-term periods (Niu et al, 2007). Maps aiding navigation is used in many previous researches to help low-cost INS in GNSS denied environments (Attia, 2013). CPDs contain many sensors such as GNSS receivers, low-cost INS, magnetometer, barometer, and camera that can be used in many land vehicles applications such as navigation, lane localization (Song et al, 2017) (Zhu et al, 2017), environmental perception, safety driving monitoring, insurance telematics (Wahlström et al, 2017), and road surface condition monitoring (Sathe and Deshmukh, 2017). RISS has been addressed in many previous researches, (Iqbal et al, 2008) described the mechanization of RISS as well as its integration with GNSS
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