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Related Concept Videos

Introduction to Global Positioning System01:30

Introduction to Global Positioning System

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The Global Positioning System (GPS) revolutionized positioning on Earth, providing precise location data through satellite ranging. The GPS system was developed in 1978 by the U.S. Department of Defense  for military use, and it became available for civilian applications in 1983, transforming fields including navigation, fleet management, and time synchronization for telecommunications systems.GPS consists of satellites in medium Earth orbit, about 20,200 kilometers above the surface,...
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Types of Global Positioning System Surveys01:30

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GPS surveying methods vary in application, accuracy, and data collection techniques, catering to diverse surveying and mapping needs. Static GPS, kinematic GPS, and real-time kinematic (RTK) surveying are widely used. Each technique offers distinct advantages.Static GPS involves placing one receiver at a known reference point and another at the target point. It collects exact positional data by observing multiple satellite ranges over an extended period, achieving centimeter-level accuracy for...
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Field Application of Global Positioning System01:28

Field Application of Global Positioning System

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The Global Positioning System (GPS) has become an indispensable tool in fieldwork, offering unparalleled precision and efficiency for surveying, navigation, and infrastructure development. By harnessing signals from a constellation of satellites, GPS receivers determine the location of objects with remarkable speed and accuracy, often completing calculations within a second.Advantages of Modern GPS TechnologyContemporary GPS receivers are designed to meet the practical demands of field...
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Errors in Global Positioning System01:26

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Global Positioning System (GPS) technology has revolutionized navigation and positioning, but its accuracy is often compromised by various errors. These errors, stemming from environmental, satellite, and receiver-related factors, require careful mitigation to ensure reliable performance across applications.Atmospheric ErrorsGPS signals travel through the Earth’s ionosphere and troposphere, introducing delays which affect accuracy. The ionosphere is strongly influenced by charged particles,...
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Design Example: Identifying the Locations of Monuments in the Field Using Global Positioning System Device01:30

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Surveyors use Global Positioning System (GPS) technology to measure the precise location and elevation of points on Earth. In a recent survey, GPS receivers were used to determine the coordinates and elevations of two park monuments. The process involved careful mission planning, data collection, and correction to ensure accuracy. The survey began with mission planning to identify optimal satellite visibility and minimize Position Dilution of Precision (PDOP). A geodetic control point...
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Electronic Distance Measuring Instruments01:30

Electronic Distance Measuring Instruments

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Electronic Distance Measuring Instruments (EDMs) are essential tools in modern surveying, offering precise distance measurements by emitting electromagnetic signals and calculating the time required for these signals to travel to a target and return. Two primary types of signals are used in EDMs — light waves and microwaves — each suited to specific environmental and distance requirements. Light-wave-based EDMs utilize either infrared or laser light, providing high accuracy over short...
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INS/LIDAR/Stereo SLAM Integration for Precision Navigation in GNSS-Denied Environments.

Nader Abdelaziz1,2, Ahmed El-Rabbany1

  • 1Department of Civil Engineering, Toronto Metropolitan University, Toronto, ON M5B 2K3, Canada.

Sensors (Basel, Switzerland)
|September 9, 2023
PubMed
Summary

This study introduces an integrated navigation system combining inertial navigation (INS), LiDAR, and stereo vision (SLAM) to overcome global navigation satellite system (GNSS) signal loss. The system significantly improves positioning accuracy without GNSS, outperforming traditional methods.

Keywords:
GNSS-denied environmentsINS/LiDAR/stereo SLAMORB-SLAMintegrated navigation systemredundant navigation system

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Area of Science:

  • Robotics
  • Computer Vision
  • Navigation Systems

Background:

  • Traditional navigation relies on Global Navigation Satellite System (GNSS)/Inertial Navigation System (INS) integration.
  • INS alone suffers from significant drift during prolonged GNSS signal outages.
  • Need for robust navigation solutions independent of GNSS signals.

Purpose of the Study:

  • To develop an integrated INS/LiDAR/Stereo Simultaneous Localization and Mapping (SLAM) navigation system.
  • To evaluate the system's performance in GNSS-denied environments.
  • To enhance positioning accuracy compared to INS-only systems.

Main Methods:

  • An extended Kalman filter (EKF) was employed for sensor fusion.
  • The EKF integrates INS with LiDAR data first, followed by stereo SLAM.
  • The system was tested on the KITTI dataset across diverse urban and rural driving scenarios.

Main Results:

  • The proposed INS/LiDAR/Stereo SLAM system demonstrated superior position estimation without GNSS.
  • Root-mean-square error (RMSE) was reduced by 83% horizontally and 82% vertically.
  • The system outperformed several state-of-the-art algorithms in positioning accuracy.

Conclusions:

  • Integrated INS/LiDAR/Stereo SLAM offers a robust solution for GNSS-denied navigation.
  • The proposed EKF-based fusion significantly enhances localization accuracy.
  • This approach provides a viable alternative for reliable navigation in challenging environments.