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

Geodesy and Geodynamics 2024年第2期15卷 166-176页

作者： Mokhamad Nur Cahyadi Tahiyatul Asfihani hendy fitrian suhandri Risa Erfianti Department of Geomatics Engineering Institut Teknologi Sepuluh NopemberSurabaya 6011Indonesia Research Center of Marine and Earth Science Technology Directorate of Research and Community ServiceInstitut Teknologi Sepuluh NopemberSurabaya 60111Indonesia Department of Mathematics Institut Teknologi Sepuluh NopemberSurabaya 60111Indonesia Centre of Studies for Surveying Science&Geomatics Universiti Teknologi Mara(UiTM)Shah Alam 40450Malaysia

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.

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

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