In the near future, multi-sensor fusion will be core component to navigate autonomous driving platforms. This paper proposes new strategies cope with integration of an inertial navigation system (INS), a global satellite (GNSS), and light detection ranging (LIDAR) achieve simultaneous localization mapping (INS/GNSS/LiDAR SLAM) especially in GNSS challenging environments where signals are blocked or contaminated reflected signals. The proposed implement high level various information received...

Global Navigation Satellite Systems (GNSS) integrated with multiple sensors have been widely applied in many Intelligent Transport (ITS). vehicles, increasingly a key component of the future transport system, require high-performance positioning, navigation and timing (PNT) technologies. This cannot be achieved by current 2-dimensional systems. is because accurate comprehensive state information (time, position, derivatives attitude) required to estimate amongst others, vehicle's power usage...

Automated driving has made considerable progress recently. The multisensor fusion system is a game changer in making self-driving cars possible. In the near future, will be necessary to meet high accuracy needs of automated systems. This paper proposes design, including an inertial navigation (INS), global satellite (GNSS), and light detection ranging (LiDAR), implement 3D simultaneous localization mapping (INS/GNSS/3D LiDAR-SLAM). proposed structure enhances conventional INS/GNSS/odometer...

With the increasing demands for seamless landvehicle navigation, systems with robust performance are required in highly urbanized areas. The traditional INS/GNSS integration is widely applied to solve this issue. However, system still suffers from bad GNSS signal reception and INS time accumulated errors that seamlessness stability difficult maintain. In study, of low cost aiding sensors, such as an odometer barometer, was evaluated both loosely-coupled (LC) scheme tightly-coupled (TC)...

In disaster management, reconstructing the environment and quickly collecting geospatial data of impacted areas in a short time are crucial. this letter, light detection ranging (LiDAR)-based unmanned aerial vehicle (UAV) is proposed to complete reconstruction task. The UAV integrate an inertial navigation system (INS), global satellite (GNSS) receiver, low-cost LiDAR. An helicopter introduced multisensor payload architecture for direct georeferencing designed improve capabilities vehicle....

This paper presents an evaluation of the map-matching scheme integrated GPS/INS system in urban areas. Data fusion using a Kalman filter and map matching are effective approaches to improve performance navigation applications based on GPS/MEMS IMUs. The study considers curve-to-curve algorithm after filtering correct mismatch eliminate redundancy. By applying data matching, easily accomplished mapping trajectory onto road network. results demonstrate effectiveness algorithms controlling INS...

Abstract. There are many disasters happened because the weather changes extremely in these years. To facilitate applications such as environment detection or monitoring becomes very important. Therefore, development of rapid low cost systems for collecting near real-time spatial information is critical. Rapid collection has become an emerging trend remote sensing and mapping applications. This study develops a Direct Georeferencing (DG) based Unmanned Aerial Vehicle (UAV) helicopter...

Hardware sensors embedded in a smartphone allow the device to become an excellent mobile navigator. A is ideal for this task because its great international popularity has led increased phone power and since most of necessary infrastructure already place. However, using indoor pedestrian navigation can be problematic due low accuracy sensors, imprecise predictability motion, inaccessibility Global Navigation Satellite System (GNSS) some environments. Pedestrian Dead Reckoning (PDR) one...

Indoor localization using magnetic and inertial sensors has shown its effectiveness due to the pervasiveness of fields independence from external infrastructure. However, when massive crowdsourced data are obtained in mass-market applications, new issues occur degrade matching (MM) performance. To alleviate these issues, an orientation-aided stochastic MM method is presented. First, fingerprints applied effectively improve fingerprint fidelity used. Second, this paper characterizes reveals...

Because robustness and accuracy of localization are crucial for autonomous driving applications. Using the conventional integration scheme Inertial Navigation System (INS) Global Satellite (GNSS), pose estimation error can drift accumulate with time, especially in GNSS challenging environment unknown where an existing map has not been constructed. In this paper, term using multi-sensor fusion improving positioning accuracy, we proposed a method that is based on LiDAR-based 3D Normal...

With the great international popularity and various sensors embedded, smartphone becomes an excellent mobile indoor navigator. Pedestrian Dead Reckoning (PDR) is one of most common technologies for pedestrian navigation which based upon pedometer orientation sensor. But errors tend to accumulated step by in its present form. Therefore, this study proposes a novel map aided Fuzzy Decision Tree (FDT) without complex algorithm individually tuning process reduce error, improve generation ability...

An ultra-tightly coupled (UTC) GNSS/INS integration navigation system is established and researched for the autonomous ground vehicle based on consumer-level inertial measurement unit (IMU). The used IMU chosen from a smartphone in this work. proposed architecture tested with GNSS software-defined receiver (SDR) using vector tracking (VT) technique. UTC which measured through both measurements data an upgraded version of Meanwhile, performances solutions can be improved by such advanced...

Abstract. Over the years, Mobile Mapping Systems (MMSs) have been widely applied to urban mapping, path management and monitoring cyber city, etc. The key concept of mobile mapping is based on positioning technology photogrammetry. In order achieve integration, multi-sensor integrated has clearly established. recent robotic rapidly developed. other that basis low-cost sensor generally used in system, it known as Simultaneous Localization (SLAM). objective this study developed a prototype...

Abstract. More recently, mapping sensors for land-based Mobile Mapping Systems (MMSs) have combined cameras and laser scanning measurements defined as Light Detection Ranging (LiDAR), or scanner together. These mobile systems (MLS) can be used in dynamic environments are able of being adopted traffic-related applications, such the collection road network databases, inventory traffic sign surface conditions, etc. However, most LiDAR expensive not easy to access. Moreover, due increasing...

Abstract. Indoor navigation or positioning systems have been widely developed for Location-Based Services (LBS) applications and they come along with a keen demand of indoor floor plans displaying results even improving the performance. Generally, produced by robot mapping focus on perceiving environment to avoid obstacles using feature landmarks update position in relative coordinate frame. These maps are not accurate enough incorporate system. This study aims at developing Mobile Mapping...

*ION GNSS+ 2017 Student Paper Award Winner* Indoor navigation and mapping is popular because of the indispensable smartphone in our daily life. Among all indoor techniques Pedestrian Dead Reckoning (PDR) has most potential to confront challenges a GNSS-denied environment based on various embedded sensors. However, PDR inherent time accumulated errors aided algorithms such as external infrastructure, frequently stable update map information, are needed maintain acceptable result. Another...

Abstract. With advances in computing and sensor technologies, onboard systems can deal with a large amount of data achieve real-time process continuously accurately. In order to further enhance the performance positioning, high definition map (HD map) is one game changers for future autonomous driving. Instead directly using Inertial Navigation System Global Satellite (INS/GNSS) navigation solutions conduct Direct Geo-referencing (DG) acquiring 3D mapping information, Simultaneous...