Real-Time fusion of senzors for navigation

Klingbeil, Lasse; Rohm, Witold; Kaczmarek, Adrian; Tchórzewski, Janusz

The development of satellite techniques in the field of precise positioning and the availability of mobile devices with a built-in multi-GNSS (Global Navigation Satellite System) receiver allow us to determine positions with better accuracy than a dozen or so years ago. At the same time, there is a growing demand from users for more and more accurate positioning while reducing the costs of the final device (e.g., a navigation system for autonomous lawn mowers). This work presents the concept of a solution that integrates different positioning techniques: gyroscopes, odometers, and GNSS using a loosely coupled Kalman filter. The sensor integration model was developed for horizontal components (2D) with simultaneous determination of azimuth and precise position. Additionally, the integration filter uses a dynamic weight matrix, the values of which are selected depending on the type of GNSS solution (FIX, FLOAT, etc.). Tests of the measurement platform were carried out under ideal conditions and in places where the horizon is obscured (passes along a high wall, under openwork steel trusses, etc.). The accuracies obtained during tests using EKF and the dynamic weight matrix are RMS 0.019 m for the North and East components. However, the accuracy of the azimuth determination was 0.59°. In addition, the presentation will present a platform concept that integrates low-cost sensors in real time. This work was supported by Wroclaw University of Environmental and Life Sciences (Poland) under the project “POMOST” (grant no. N110/0002/22).

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