Robust navigation system for a transport using gps/in fusion
Answers
Answer:
A fusion of Inertial Navigation System (INS) and Global Positioning System (GPS) has been proposed to implement a robust navigation system for a transporter. In some cases, the GPS signals are not sufficient to localize a transporter. In order to overcome this difficulty, a Fault Detection and Isolation (FDI) algorithm has been used to detect and isolate the contaminated satellite signals. When the FDI algorithm is used alone, and the number of reliable satellite signals becomes less than four owing to GPS signal errors, the receiver cannot estimate the position precisely. In this paper, a modified FDI algorithm has been proposed and applied for the navigation of a transporter on a flat yard in order to avoid losing its positioning while it passes through a structured area. In the modified FDI algorithm, Signal-to-Noise Ratio (SNR), measurement of Quality Indicator (mesQI), and Doppler shift data information are incorporated into the modified FDI algorithm. In order to verify the effectiveness of the proposed algorithm, the navigation experiments have been conducted on a campus by simulating a shipbuilding yard and the results are demonstrated in this paper.
Explanation:
Meanwhile, POMA, a CVIS sub-project, has developed sensor data fusion and map-matching techniques that can position vehicles within specific road lanes. With the co-operative technologies developed by POMA, it was possible to create much higher accuracy than with ordinary GPS.