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Steering Angle Assisted Vehicular Navigation Using Portable Devices in GNSS-Denied Environments.
Mohamed Moussa1, Adel Moussa2,3, Naser El-Sheimy4
1Geomatics Engineering Department, University of Calgary, Calgary, AB T2N 1N4, Canada. mohamed.moussa1@ucalgary.ca.
Sensors (Basel, Switzerland)
|April 17, 2019
Summary
This study introduces a new method using smartphone accelerometers to estimate steering wheel angles for land vehicle navigation. This approach significantly improves navigation accuracy during GPS outages by aiding inertial measurement units.
Area of Science:
- Robotics and Autonomous Systems
- Navigation and Positioning
- Sensor Fusion
Background:
- Consumer Portable Devices (CPDs) offer low-cost sensor solutions for land vehicle navigation.
- Accurate heading estimation is crucial for navigation, especially in Global Navigation Satellite System (GNSS)-denied environments.
- Inertial Measurement Units (IMUs) are vital for navigation but drift over time without external aiding.
Purpose of the Study:
- To propose a novel method for estimating steering wheel angles using CPD accelerometers.
- To compute the change of heading from estimated steering wheel angles.
- To enhance navigation filter performance in GNSS-denied environments by aiding the IMU.
Main Methods:
- Developed a steering wheel angle estimation technique utilizing accelerometers from CPDs attached to the steering wheel.
- Modeled and compensated for factors affecting steering wheel angle accuracy: IMU leveling, steering wheel inclination, vehicle acceleration, and inclination.
- Implemented three estimation methods: non-compensated, partially-compensated, and fully-compensated, integrated with an Extended Kalman Filter (EKF).
Main Results:
- Achieved an average Root Mean Square Error (RMSE) of 0.033 rad/s for the estimated change of heading.
- Demonstrated significant enhancement of the navigation solution during GNSS outages compared to IMU standalone.
- Navigation solution improved by 91% and 97% for 60s and 120s GNSS outages, respectively.
Conclusions:
- The proposed method effectively estimates steering wheel angles and change of heading using low-cost CPDs.
- The method significantly improves navigation accuracy and robustness in GNSS-denied environments.
- This approach offers a practical and cost-effective solution for aiding vehicle navigation systems.
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