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Introduction to Global Positioning System01:30

Introduction to Global Positioning System

36
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,...
36
Field Application of Global Positioning System01:28

Field Application of Global Positioning System

19
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...
19
Design Example: Identifying the Locations of Monuments in the Field Using Global Positioning System Device01:30

Design Example: Identifying the Locations of Monuments in the Field Using Global Positioning System Device

14
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...
14
Errors in Global Positioning System01:26

Errors in Global Positioning System

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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,...
22
Types of Global Positioning System Surveys01:30

Types of Global Positioning System Surveys

36
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...
36
Multi-input and Multi-variable systems01:22

Multi-input and Multi-variable systems

84
Cruise control systems in cars are designed as multi-input systems to maintain a driver's desired speed while compensating for external disturbances such as changes in terrain. The block diagram for a cruise control system typically includes two main inputs: the desired speed set by the driver and any external disturbances, such as the incline of the road. By adjusting the engine throttle, the system maintains the vehicle's speed as close to the desired value as possible.
In the absence...
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GPS/VIO integrated navigation system based on factor graph and fuzzy logic.

M M Karimi1, M R Mosavi2

  • 1Department of Electrical Engineering, Iran University of Science and Technology, Tehran, 16846-13114, Iran.

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|December 27, 2024
PubMed
Summary

This study presents a novel graph-based GPS/VIO system with Adaptive Feature-Flow Fusion, enhancing navigation accuracy during GPS outages. The system significantly improves positioning reliability for autonomous applications.

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Area of Science:

  • Robotics and Autonomous Systems
  • Navigation and Positioning Technologies
  • Computer Vision and Sensor Fusion

Background:

  • Global Positioning System (GPS) and Inertial Navigation System (INS) integration faces accuracy and reliability challenges, especially during GPS signal outages.
  • Accumulated errors in traditional GPS/INS systems limit long-term navigation solutions.
  • Visual-Inertial Odometry (VIO) offers complementary data but requires robust feature handling.

Purpose of the Study:

  • To develop a novel graph-based method integrating GPS and VIO for improved navigation and positioning accuracy.
  • To introduce Adaptive Feature-Flow Fusion for robust motion estimation and feature extraction in diverse environments.
  • To mitigate the accuracy and reliability concerns associated with GPS-dependent navigation systems.

Main Methods:

  • A graph-based approach with a dynamically adjustable fuzzy window was employed for GPS/VIO integration.
  • Adaptive Feature-Flow Fusion was developed for enhanced motion estimation and feature extraction.
  • Data preprocessing, including image optimization and IMU noise reduction, was incorporated.

Main Results:

  • The proposed GPS/VIO system demonstrated significant accuracy improvements, outperforming the Extended Kalman Filter (EKF).
  • Accuracy enhancements of 84.59% and 88.806% were achieved during GPS outages of 10s and 27s, respectively.
  • Predefined trajectory accuracy was improved by 44.7% through data preprocessing techniques.

Conclusions:

  • The novel graph-based GPS/VIO system effectively enhances navigation and positioning accuracy, particularly during GPS outages.
  • Adaptive Feature-Flow Fusion provides robust performance in varying feature environments.
  • The system's real-time performance and accuracy improvements validate its potential for autonomous applications.