Unscented Kalman filter for a low-cost GNSS/IMU-based mobile mapping application under demanding conditions

作     者：Mokhamad Nur Cahyadi Tahiyatul Asfihani Hendy Fitrian Suhandri Risa Erfianti Mokhamad Nur Cahyadi;Tahiyatul Asfihani;Hendy Fitrian Suhandri;Risa Erfianti

作者机构：Department of Geomatics EngineeringInstitut Teknologi Sepuluh NopemberSurabaya 6011Indonesia Research Center of Marine and Earth Science TechnologyDirectorate of Research and Community ServiceInstitut Teknologi Sepuluh NopemberSurabaya 60111Indonesia Department of MathematicsInstitut Teknologi Sepuluh NopemberSurabaya 60111Indonesia Centre of Studies for Surveying Science&GeomaticsUniversiti Teknologi Mara(UiTM)Shah Alam 40450Malaysia 

出 版 物：《Geodesy and Geodynamics》 (大地测量与地球动力学（英文版）)

年 卷 期：2024年第15卷第2期

页      面：166-176页

核心收录：

学科分类：081603[工学-地图制图学与地理信息工程] 081802[工学-地球探测与信息技术] 07[理学] 08[工学] 081105[工学-导航、制导与控制] 070503[理学-地图学与地理信息系统] 0818[工学-地质资源与地质工程] 0804[工学-仪器科学与技术] 0705[理学-地理学] 0816[工学-测绘科学与技术] 0811[工学-控制科学与工程] 

基　　金：funded by the project scheme of the Publication Writing-IPR Incentive Program(PPHKI)2022 Directorate of Research and Community Service(DRPM)Institut Teknologi Sepuluh Nopember(ITS)Surabaya,Indonesia for the financial supports 

主　　题：LoW-cost GNSS GNSS/IMU Single Point Positioning-IMU(SPP/IMU) Differential GNSS-IMU(DGNSS/IMU) Unscented Kalman Filter(UKF) Outageconditions 

摘      要：For the last two decades,low-cost Global Navigation Satellite System(GNSS)receivers have been used in various *** receivers are mini-size,less expensive than geodetic-grade receivers,and in high *** of these outstanding features,low-cost GNSS receivers are potentially poorer hardwares with internal signal processing,resulting in lower *** typically come with low-cost GNSS antenna that has lower performance than their counterparts,particularly for multipath ***,this research evaluated the low-cost GNSS device performance using a high-rate kinematic *** this purpose,these receivers were assembled with an Inertial Measurement Unit(IMU)sensor,which actively transmited data on acceleration and orientation rate during the *** position and navigation parameter data were obtained from the IMU readings,even without GNSS signals via the U-blox F9R GNSS/IMU device mounted on a *** research was conducted in an area with demanding conditions,such as an open sky area,an urban environment,and a shopping mall basement,to examine the device’s *** data were processed by two approaches:the Single Point Positioning-IMU(SPP/IMU)and the Differential GNSS-IMU(DGNSS/IMU).The Unscented Kalman Filter(UKF)was selected as a filtering algorithm due to its excellent performance in handling nonlinear system *** result showed that integrating GNSS/IMU in SPP processing mode could increase the accuracy in eastward and northward components up to 68.28%and 66.64%.Integration of DGNSS/IMU increased the accuracy in eastward and northward components to 93.02%and 93.03%compared to the positioning of standalone *** addition,the positioning accuracy can be improved by reducing the IMU noise using low-pass and high-pass *** application could still not gain the expected position accuracy under signal outage conditions.