A Hierarchical SLAM/GPS/INS Sensor Fusion with WLFP for Flying Robo-SAR's Navigation

Document Type : Research Article

Authors

1 Corresponding Author, S.M. Mirzababaei is the Department of Computer Engineering and IT Department, Amirkabir University of Technology, Tehran, Iran (e-mail: {mirzababaei,akbarif}@aut.ac.ir).

2 M.K. Akbari is with the Department of Computer Engineering and IT Department, Amirkabir University of Technology, Tehran, Iran (e-mail: {mirzababaei,akbarif}@aut.ac.ir).

Abstract

In this paper, we present the results of a hierarchical SLAM/GPS/INS/WLFP sensor fusion to be used in navigation system devices. Due to low quality of the inertial sensors, even a short-term GPS failure can lower the integrated navigation performance significantly. In addition, in GPS denied environments, most navigation systems need a separate assisting resource, in order to increase the availability and reliability of the device. When the GPS service/information is available, the integrated SLAM system arranges for a landmark-based map using a GPS/INS feature. But in case of inaccessibility of GPS information, the latest formerly produced map plays an important role in decreasing the INS errors. In addition, a Wireless Fingerprinting (WLFP) mechanism helps us limit the errors in the system. The results of the proposed method decreases the average estimation precision on the order of 2.6m, without any performance degradation and in different experiments, which is the maximum sustainable error (below 2.66m) for flyer landing on the base. The mentioned method could be used in computer networks to schedule the services too. 

Keywords

References

[1]      A.B. Chatfield, ”Fundamentals of High Accuracy Inertial Navigation", American Institute of Aeronautics and Astronautics, 1997.
[2]      S. Kim, K. Choi, S. Lee, J. Choi, T. Hwang, B. Jang, and J. Lee, "A Bimodal Approach for Land Vehicle Localization", ETRI Journal, vol. 26, no. 5, Oct. 2004, pp. 497-500.
[3]      S.Y. Cho, B.D. Kim, Y.S. Cho, and W.S. Choi, "Multi-model Switching for Car Navigation Containing Low-Grade IMU and GPS Receiver", ETRI Journal, vol. 29, no. 5, Oct. 2007, pp. 688-690.
[4]      M.S. Grewal, L.R. Weill and A.P. Andrews, "Global Positioning Systems, Inertial Navigation, and Integration", John Wiley & Sons, Inc ., 2001.
[5]      W.R. Baker and R.W. Clem, "Terrain contour matching (TERCOM) premier", ASP-TR-77-61, Aeronautical Systems Division, Wright-Patterson, 1997.
 
[6]      S.B. Williams, M.W.M.G. Dissanayake and H. Durrant-Whyte, "Towards terrain-aided navigation for underwater robotics ", In Advanced Robotics, 15(5):533-550, 2001.
[7]      J. Kim and S. Sukkarieh, "Autonomous Airborne Navigation in Unknown Terrain Environments", IEEE Transactions on Aerospace and Electronic Systems, 40(3):1031-1045, July, 2004.
[8]      S.Y. Cho and W. S. Choi, "Performance Enhancement of Low-CostLand Navigation System for Location-Based Service", ETRI Journal, vol. 28, no. 2, Apr. 2006, pp. 131-144.
[9]      J. Guivant and E. Nebot, "Optimizations of the simultaneous localization and map building algorithm for real-time implementation", IEEE Transactions on Robotics and Automation, 17(3):242-257, 2001.
[10]   T. Weiss, J. Spruck and K. Dietmayer, "A Scalable Sensor Fusion Framework for the Localization of a Vehicle on Detailed Digital Maps Using Laserscanners", Multisensor Fusion and Integration for Intelligent Systems, IEEE International Conference, pp.444–449, Sept. 2006.
[11]   M. Miettinen, M. Ohman, A. Visala, P. Forsman, "Simultaneous Localization and Mapping for Forest Harvesters", IEEE International Conference on Robotics and Automation, pp.517-522., Apr. 2007.
[12]   D. Schleicher, L.M. Bergasa, M. Ocana, R. Barea, M.E.   Lopez, "Real-Time Hierarchical Outdoor SLAM Based on Stereovision and GPS Fusion", Dept. of Electronics, Univ. of Alcala, Madrid, Spain; IEEE Transactions on Intelligent Transportation Systems, ISSN: 1524-9050 Sep. 2009.
[13]   P. Bahl and V. N. Padmanabhan, "RADAR: an in-building RF-based user location and tracking system", in Proc. IEEE 19th Annual Joint Conference of the IEEE Computer and Communications Societies (INFOCOM'00), pp. 775-784, Mar. 2000.
[14]   P. Prasithsangaree, P. Krishnamurthy, and P. K. Chrysanthis, "On indoor position location with wireless LANs", in Proc. IEEE International Symposium on Personal, Indoor, and Mobile Radio Communications Sept. 2002.
[15]   Z. Xiang, S. Song, J. Chen, H. Wang, J. Huang, and X. Gao, "A wireless LAN-based indoor positioning technology", IBM Journal of Research and Development, vol. 48, no. 5,6,( Sept, Nov) pp. 617-626, 2004.
[16]   H. Arghavan, "Processing Unit Design and Implementation of Fault Tolerant Navigation System", Master of Science Thesis, AmirkabirUniversity of Technology, 2003.
[17]   K.R. Britting, "Inertial Navigation Systems Analysis", John Wiley & Sons, 1971.
[18]   S. Eun-Hwan, "Accuracy improvement Of Low Cost INS/GPS for Land Applications", UCGE Reports Number 20156, The University of Calgary, Calgary, Canada, 2001.
[19]   R.G. Brown and P.Y.C. Hwang, "Introduction to random signals and applied Kalman filtering", 3rd Ed., New York, Wiley, 1997.
[20]   J.A. Farrell and M. Barth, "The Global Positioning System & Inertial Navigation", New York, 2000.
[21]   O.S. Salychev, "Inertial Systems in Navigation and Geophysics", Bauman MSTU Press, Moscow, 1998.
[22]   A.H. Mohamed, "Optimizing the Estimation Procedure in INS/GPS Integration for Kinematic Applications", UCGE Reports Number 20127, Dept. of Geomatics Engineering, The university of Calgary, 1999.
[23]   S.D. Conte and C.D. Boor, "Elementary Numerical Analysis: An Algorithmic Approach", McGraw-Hill, 3rd edition, 1980.
[24]   J. Kim and S. Sukkarieh, "6Dof SLAM aided GNSS/INS Navigation in GNSS Denied and Unknown Environments", Journal of Global Positioning Systems, v. 4, pp. 120, 2005.
[25]   J. Kim, "Autonomous Navigation for Airborne Applications", Ph.D. thesis, Australian Centre for Field Robotics, The University of Sydney, 2004.
[26]   J. Kim, M. Ridley, E. Nettleton, S. Sukkarieh, "Real-time Experiment of Feature Tracking/Mapping using a low-cost Vision and GPS/INS System on am UAV platform", Journal of Global Positioning Systems, v. 3, pp. 167, 2004.
[27]   R. Battiti, M. Brunato, and A. Villani, "Statistical learning theory for location fingerprinting in wireless lans", Technical Report. Oct. 2002 , [Online]. Available: http://rtm.science.unitn.it/»battiti/archive/86.pdf
[28]   Webpage of allied company, http://www.alliedworld.com/ servlets/Home.
[29]   Work data, Available: at http://ardent.unitn.it/software/ data.
[30]   R. Battiti, A. Villani, and T. Le Nhat, "Neural network models for intelligent networks: deriving the location from signal patterns", in Proc. of AINS2002, UCLA, 2002.
[31]   K.W. Min, K.W. Nam, and J.W. Kim, "Multilevel Location Trigger in Distributed Mobile Environments for Location-Based Services", ETRI Journal, vol. 29, no. 1, Feb. 2007, pp. 107-109.

Files

Share

How to cite

Statistics