| Presentation | 2023-03-02 Evaluation on integrated positioning system using GNSS/IMU/Odometer Hiroo Komatsu, Nobuaki Kubo, |
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| PDF Download Page |  PDF download Page Link |
| Abstract(in Japanese) | (See Japanese page) |
| Abstract(in English) | We studied Loosely Coupled and Tightly Coupled using GNSS and IMU. After explaining the flow and design method of each integration method, we compared the performance of the two methods in a normal urban area and a dense urban area. This study also focuses on methods to improve the accuracy of IMU in the dense urban area, where GNSS positioning is often inadequate. In addition, supplementary sensors such as odometer was used to improve positioning accuracy by compensating for the shortcomings of GNSS and IMU. As a result, the horizontal positioning error of the integrated positioning was reduced to within 1.5m in maximum. Future works are to improve the accuracy of the altitude and heading by attitude estimation and slip angle estimation. |
| Keyword(in Japanese) | (See Japanese page) |
| Keyword(in English) | GNSS / INS / Loosely Coupled / Tightly Coupled |
| Paper # | SANE2022-105 |
| Date of Issue | 2023-02-23 (SANE) |
| Conference Information | |
| Committee | SANE / SAT |
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| Conference Date | 2023/3/2(2days) |
| Place (in Japanese) | (See Japanese page) |
| Place (in English) | |
| Topics (in Japanese) | (See Japanese page) |
| Topics (in English) | |
| Chair | Toshifumi Moriyama(Nagasaki Univ.) / Tetsushi Ikegami(Meiji Univ.) |
| Vice Chair | Makoto Tanaka(Tokai Univ.) / Takeshi Amishima(Meiji Univ.) / Masashi Kamei(NHK) / Takana Kaho(Shonan Inst. of Tech.) |
| Secretary | Makoto Tanaka(ENRI) / Takeshi Amishima(Mitsubishi Electric) / Masashi Kamei(NTT) / Takana Kaho(NICT) |
| Assistant | Shang Fang(Univ. of Electro-Comm) / Riichiro Nagareda(KDDI Research) / Yuuki Koizumi(NHK) |
| Paper Information | |
| Registration To | Technical Committee on Space, Aeronautical and Navigational Electronics / Technical Committee on Satellite Telecommunications |
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| Language | JPN |
| Title (in Japanese) | (See Japanese page) |
| Sub Title (in Japanese) | (See Japanese page) |
| Title (in English) | Evaluation on integrated positioning system using GNSS/IMU/Odometer |
| Sub Title (in English) | |
| Keyword(1) | GNSS |
| Keyword(2) | INS |
| Keyword(3) | Loosely Coupled |
| Keyword(4) | Tightly Coupled |
| 1st Author's Name | Hiroo Komatsu |
| 1st Author's Affiliation | Tokyo University of Marine Science and Technology(TUMSAT) |
| 2nd Author's Name | Nobuaki Kubo |
| 2nd Author's Affiliation | Tokyo University of Marine Science and Technology(TUMSAT) |
| Date | 2023-03-02 |
| Paper # | SANE2022-105 |
| Volume (vol) | vol.122 |
| Number (no) | SANE-408 |
| Page | pp.pp.37-42(SANE), |
| #Pages | 6 |
| Date of Issue | 2023-02-23 (SANE) |