基于因子图和模糊逻辑的GPS/VIO集成导航系统.
1Department of Electrical Engineering, Iran University of Science and Technology, Tehran, 16846-13114, Iran.
Scientific reports
|December 27, 2024
概括
本研究介绍了一种基于图形的新型GPS/VIO系统,具有自适应特征流融合,在GPS中断时提高导航准确性. 该系统显著提高了自主应用的定位可靠性.
科学领域:
- 机器人技术和自主系统
- 导航和定位技术 导航和定位技术
- 计算机视觉和传感器融合
背景情况:
- 全球定位系统 (GPS) 和惯性导航系统 (INS) 的整合面临准确性和可靠性挑战,特别是在GPS信号中断期间.
- 传统GPS/INS系统中累积的错误限制了长期的导航解决方案.
- 视觉惯性口径测量 (VIO) 提供了互补的数据,但需要强大的特征处理.
研究的目的:
- 开发一种基于图形的新方法,将GPS和VIO整合起来,以提高导航和定位准确度.
- 引入适应性特征-流动融合,用于在各种环境中进行强大的运动估计和特征提取.
- 为了减轻与依赖GPS的导航系统相关的准确性和可靠性问题.
主要方法:
- 在GPS/VIO集成中,采用基于图形的方法,使用动态调节的模糊窗口.
- 适应性特征流动融合 (Adaptive Feature-Flow Fusion) 是为了增强运动估计和特征提取而开发的.
- 数据预处理,包括图像优化和IMU噪声降低,被纳入.
主要成果:
- 拟议的GPS/VIO系统显示了显著的精度改进,超过了扩展卡尔曼波器 (EKF).
- 在10s和27s的GPS中断期间,分别实现了84.59%和88.806%的精度提升.
- 通过数据预处理技术,预定义轨迹的准确性提高了44.7%.
结论:
- 新型基于图形的GPS/VIO系统有效地提高了导航和定位准确性,特别是在GPS中断期间.
- 适应性特征-流量融合在不同的特征环境中提供了强大的性能.
- 该系统的实时性能和准确性改进验证了其对自主应用的潜力.
相关概念视频
01:30Introduction 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
01:28Field 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
01:30Design 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
01:26Errors in Global Positioning System
22
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
01:30Types 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
01:22Multi-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...
In the absence...
84