Abstract
Despite its popularity, the development of an embedded real-time multisensor kinematic positioning and navigation system discourages many researchers and developers due to its complicated hardware environment setup and time consuming device driver development. To address these issues, this paper proposed a multisensor kinematic positioning and navigation system built on Linux with Real Time Application Interface (RTAI), which can be constructed in a fast and economical manner upon popular hardware platforms. The authors designed, developed, evaluated and validated the application of Linux/RTAI in the proposed system for the integration of the low cost MEMS IMU and OEM GPS sensors. The developed system with Linux/RTAI as the core of a direct geo-referencing system provides not only an excellent hard real-time performance but also the conveniences for sensor hardware integration and real-time software development. A software framework is proposed in this paper for a universal kinematic positioning and navigation system with loosely-coupled integration architecture. In addition, general strategies of sensor time synchronization in a multisensor system are also discussed. The success of the loosely-coupled GPS-aided inertial navigation Kalman filter is represented via post-processed solutions from road tests.
Highlights
Since the late 1990s, the use of the GNSS (Global Navigation Satellite Systems) aided inertial navigation in mobile mapping industry has revolutionarily changed the way how to geo-reference the geo-spatial data
This paper presents a fast and economical solution for the development of the core component of the direct geo-referencing multisensor system: a low cost kinematic positioning and navigation system focusing on the real-time data acquisition and the post-processing GPS-aided inertial integrated navigation solution
Micro-Electro-Mechanical Systems (MEMS)-based inertial measurement units (IMU) is more attractive in practice
Summary
Since the late 1990s, the use of the GNSS (Global Navigation Satellite Systems) aided inertial navigation in mobile mapping industry has revolutionarily changed the way how to geo-reference the geo-spatial data. This is well known as direct geo-referencing technology in the field of Geomatics. This paper presents a fast and economical solution for the development of the core component of the direct geo-referencing multisensor system: a low cost kinematic positioning and navigation system focusing on the real-time data acquisition and the post-processing GPS-aided inertial integrated navigation solution. In terms of the RTOS, numerous low cost systems employ an open and free soft real-time
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