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Ubiquitous Navigation

Ubiquitous Navigation. James Pinchin. Overview. Introduction Ubiquitous Navigation Inertial Navigation Initialisation & Drift Correction for Inertial Navigation. Positioning Technologies. PPP GPS. SBAS (GPS). Remote Rural Suburban Urban Indoor. LAD GPS. RTK GPS. GPS.

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Ubiquitous Navigation

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  1. Ubiquitous Navigation James Pinchin

  2. Overview • Introduction • Ubiquitous Navigation • Inertial Navigation • Initialisation & Drift Correction for Inertial Navigation

  3. Positioning Technologies PPP GPS SBAS (GPS) Remote Rural Suburban Urban Indoor LAD GPS RTK GPS GPS Cell Phone Network / DAB / DVB SA GPS AGPS Infrastructure RFID WLAN HS GPS UWB Bluetooth 0.1 1 5 10 50 100 10k Accuracy (m)

  4. Inertial Navigation System (INS) • Stand alone • No infrastructure needed • “Cheap” • $10 – $100k • Sensors exist and are widely available

  5. Inertial Navigation System (INS)

  6. INS - Problems • Initialisation • Position • Orientation • Sensor Biases • Error Propagation • Initialisation Biases • Sensor Biases / Noise

  7. INS - Problems

  8. INS - Augmentation • Velocity Aiding • Eg. ZUPTs • Constrains drift in INS position estimate & allows IMU sensor biases to be estimated • ZUPTs allow low cost IMUs to be used for high accuracy navigation

  9. Pedestrian INS • Foot Mounted IMU • ZUPT every ~0.4 second • Lasts around half of a step

  10. Pedestrian INS Final Position Error (~75m) Heading Error in Shop

  11. CHAIN

  12. GPS Integration - RTK • Problems Remain • Initialisation • Position Drift Correction

  13. The High Accuracy Testbed

  14. GPS Integration - RTK

  15. GPS Integration - HSGPS

  16. GPS Integration - HSGPS

  17. GPS Integration – HSGPS - Tight

  18. GPS Integration – HSGPS - Tight

  19. Inertial Navigation - Initialisation A position can be refined interactively by using using a phone’s location capabilities (GPS, Wi-Fi, compass, etc), allowing the user to describe their position to a higher level of precision.

  20. Inertial Navigation - Initialisation A structured data representation of the area, allows meaningful landmarks or features to be identified and a dialog to be generated to interactively refine the user’s precise location.

  21. Inertial Navigation - Initialisation Additional detailed sources can be iteratively added as the location becomes more precise. For instance the dialog may determine that the user is indoors and supplement the data with floor plans.

  22. Future Work • Further Development & Testing of ‘Tight’ GPS Integration • Android Implementation of Inertial / CHAIN solution • Map / Local Area Model Aiding

  23. www.horizon.ac.uk Questions? James.Pinchin@nottingham.ac.uk

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