Design of multi-sensors integrated navigation system
| Autor: | Xiong-Bo Zhao, Yi-Bo Song, Ping Wu, Wen-Jing Zhai, Peng-Long Jiang |
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| Rok vydání: | 2016 |
| Předmět: |
0209 industrial biotechnology
GNSS augmentation business.industry Computer science Real-time computing ComputingMethodologies_IMAGEPROCESSINGANDCOMPUTERVISION Navigation system Wind triangle 02 engineering and technology Mobile robot navigation 03 medical and health sciences 020901 industrial engineering & automation 0302 clinical medicine 030220 oncology & carcinogenesis Dead reckoning Computer vision Satellite navigation Artificial intelligence business Air navigation Inertial navigation system |
| Zdroj: | 2016 13th International Computer Conference on Wavelet Active Media Technology and Information Processing (ICCWAMTIP). |
| Popis: | In order to meet the requirement of high-compact and hard-real-time outdoor navigation system, to solve the problem of invalid satellite navigation during GPS-denied period, a multi-sensors integrated navigation system is designed in this study. The system is fused with accelerometer, gyroscope, satellite receiver, binocular vision camera and barometer. The Kalman Filter, which is designed for model error estimation, fuses sensors to optimize and correct the inertial navigation error. This system is designed based on programmable SoC ZYNQ7000 which embed dual-core ARM in FPGA. One core is used for image processing and binocular vision navigation, the other is used for strapdown inertial and integrated navigation. Sensors drive control and DMA data transmission are accomplished by FPGA. Finally, an outdoor car test, which ran in high-building urban environment, verified that this integrated navigation system works stably and can be significantly applicable to real engineering project. |
| Databáze: | OpenAIRE |
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