國立虎尾科技大學 |

Position and Attitude Estimation of Moving Platforms Using a Tightly Coupled Sensor Fusion: A Low-Cost Sensor Based Application = Mozgó Platformok Hely- és Helyzetmeghatározása Szoros Csatolású Szenzorfúzió Alkalmazásával: Alacsony árú Szenzor Alapú Alkalmazás /

Record Type:	Language materials, printed : Monograph/item
Title/Author:	Position and Attitude Estimation of Moving Platforms Using a Tightly Coupled Sensor Fusion: A Low-Cost Sensor Based Application/ Márton Farkas.
Reminder of title:	Mozgó Platformok Hely- és Helyzetmeghatározása Szoros Csatolású Szenzorfúzió Alkalmazásával: Alacsony árú Szenzor Alapú Alkalmazás /
Author:	Farkas, Márton,
Description:	1 electronic resource (127 pages)
Notes:	Source: Dissertations Abstracts International, Volume: 87-02, Section: B.
Contained By:	Dissertations Abstracts International87-02B.
Subject:	Electrical engineering. -
Online resource:	http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=32143193
ISBN:	9798290644363

Position and Attitude Estimation of Moving Platforms Using a Tightly Coupled Sensor Fusion: A Low-Cost Sensor Based Application = Mozgó Platformok Hely- és Helyzetmeghatározása Szoros Csatolású Szenzorfúzió Alkalmazásával: Alacsony árú Szenzor Alapú Alkalmazás /
Farkas, Márton,

Position and Attitude Estimation of Moving Platforms Using a Tightly Coupled Sensor Fusion: A Low-Cost Sensor Based ApplicationMozgó Platformok Hely- és Helyzetmeghatározása Szoros Csatolású Szenzorfúzió Alkalmazásával: Alacsony árú Szenzor Alapú Alkalmazás / [electronic resource] =Márton Farkas. - 1 electronic resource (127 pages)

Source: Dissertations Abstracts International, Volume: 87-02, Section: B.

The current trends show that autonomous vehicles represent the future of transport. Modern vehicles are equipped with multiple sensors like Global Navigation Satellite System (GNSS), Inertial Navigation System (INS), magnetometers, barometers, odometers, Light Detection and Ranging systems (LIDAR), camera systems which monitor the relative and the absolute motion parameters of the vehicle. Highly accurate and reliable positioning and attitude estimation are very important for safe autonomous driving. Decision mechanisms on the autonomous vehicles rely heavily on the outputs of the above mentioned equipments.However, in terms of the physical principles of measurements, all sensor units suffer from certain errors. GNSS systems are highly sensitive to the measurement environment and operate at relatively low measurement frequencies. In contrast, microelectromechanical inertial and other systems (MEMS) can operate at high measurement frequencies, but are subject to bias and drift errors that preclude their long-intenval exclusive use. LIDAR and camera-based localisation techniques have also become increasingly common in recent times. These methods are effective for relative positioning, however simultaneous localisation and mapping (SLAM) can also be used for absolute localisation in sensor fusion environment, but these methods require more computational load.In order to eliminate errors in the measurement principles, sensor fusion techniques have been widely used, resulting in a robust, reliable and highly accurate estimation of vehicle localisation parameters by combining different systems. As for the implementation of sensor fusion, there are also several solutions in terms of the extent and depth of integration of measurements. The proliferation of low-cost hardware and the evolution of the algorithms that process their data are evolving in parallel. These developments are enabling the widespread use of high accuracy localization and navigation technologies.This dissertation focuses on the integration of high-precision GNSS/MEMS sensors for localization purposes by processing low-cost, real sensor system measurements.1.1 MotivationAs we will see in the discussion of the different chapters, the literature on the GNSS/INS topic is quite large, but this does not mean that it is not constantly evolving. Newer and newer hardware, localisation and estimation techniques are being published. My own objective was to get to know these tools and techniques in detail and to be able to develop them further. The aim was to develop a software architecture capable of processing fully asynchronous measurements from separate hardware, with a view to flexible use and low hardware cost.As high-accuracy but low-cost hardware becomes more common, theories and techniques based on localisation and attitude are gaining ground. In this description, I would like to highlight only two topics in this context. The first is photogrammetry, where advances in mapping tools have made it possible to mount good quality cameras on unmanned aerial vehicles (UAVs). In the processing of such a measurement, a key role is played by good quality input localisation and attitude data, both in terms of runtime and final accuracy. The other major area relates to the development of autonomous vehicles. The fact that these techniques are increasingly part of our lives is largely due to the proliferation of low-cost devices and the development of algorithms that compute solutions from them.

English

ISBN: 9798290644363Subjects--Topical Terms:

596380
Electrical engineering.

Position and Attitude Estimation of Moving Platforms Using a Tightly Coupled Sensor Fusion: A Low-Cost Sensor Based Application = Mozgó Platformok Hely- és Helyzetmeghatározása Szoros Csatolású Szenzorfúzió Alkalmazásával: Alacsony árú Szenzor Alapú Alkalmazás /
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