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Land Vehicle Navigation Using Low-Cost Integrated Smartphone GNSS Mems and Map Matching Technique

Mostafa Mahmoud
Mostafa Mahmoud
, 
Mahmoud Abd Rabbou
Mahmoud Abd Rabbou
 oraz 
Adel El Shazly
Adel El Shazly
   | 21 paź 2022
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Data publikacji: 21 paź 2022
Zakres stron: 138 - 157
Otrzymano: 23 lis 2021
Przyjęty: 07 wrz 2022
DOI: https://doi.org/10.2478/arsa-2022-0007
Słowa kluczowe
© 2022 Mostafa Mahmoud et al., published by Sciendo
This work is licensed under the Creative Commons Attribution 4.0 International License.

Figure 1.

Block diagram of loosely coupled GNSS–INS integration process
Block diagram of loosely coupled GNSS–INS integration process

Figure 2.

Map matching process illustration (left) and focusing at specific position (right)
Map matching process illustration (left) and focusing at specific position (right)

Figure 3.

Selection of the candidate points of the trajectory
Selection of the candidate points of the trajectory

Figure 4.

Transition probability representation
Transition probability representation

Figure 5.

Determination of the final matching trajectory
Determination of the final matching trajectory

Figure 6.

Geodetic base (left) and geodetic rover and smartphone (right)
Geodetic base (left) and geodetic rover and smartphone (right)

Figure 7.

Trajectory layout plan marked with the simulated locations of outages
Trajectory layout plan marked with the simulated locations of outages

Figure 8.

Block diagram of GPS–INS–map matching navigation solution
Block diagram of GPS–INS–map matching navigation solution

Figure 9.

Easting direction solutions without simulated outages (lower figure) and easting solution focused at 1 min (upper figure)
Easting direction solutions without simulated outages (lower figure) and easting solution focused at 1 min (upper figure)

Figure 10.

Northing direction solutions without simulated outages (lower figure) and northing solution focused at 1 min (upper figure)
Northing direction solutions without simulated outages (lower figure) and northing solution focused at 1 min (upper figure)

Figure 11.

Analysis of RMSE and maximum error for BSSD, BSSD–INS and BSSD–INS–MM tracks
Analysis of RMSE and maximum error for BSSD, BSSD–INS and BSSD–INS–MM tracks

Figure 12.

Part of the resulting layouts of tracks solution with the reference track (left) and layouts of tracks solution at GNSS signal outage No. 1 (right)
Part of the resulting layouts of tracks solution with the reference track (left) and layouts of tracks solution at GNSS signal outage No. 1 (right)

Figure 13.

Positioning error histograms for BSSD, BSSD–INS, and BSSD–INS–MM solutions in easting and northing directions
Positioning error histograms for BSSD, BSSD–INS, and BSSD–INS–MM solutions in easting and northing directions

Figure 14.

Easting direction solutions of the BSSD–INS integration and BSSD–INS–MM tracks with simulated outages
Easting direction solutions of the BSSD–INS integration and BSSD–INS–MM tracks with simulated outages

Figure 15.

Northing direction solutions of the BSSD–INS integration and BSSD–INS–MM tracks with simulated outages
Northing direction solutions of the BSSD–INS integration and BSSD–INS–MM tracks with simulated outages

Figure 16.

Analysis of maximum error for BSSD–INS and BSSD–INS–MM tracks at the inserted outages
Analysis of maximum error for BSSD–INS and BSSD–INS–MM tracks at the inserted outages

Figure 17.

Easting and northing position errors for BSSD–INS and BSSD–INS–MM tracks solutions during simulated outage No. 1
Easting and northing position errors for BSSD–INS and BSSD–INS–MM tracks solutions during simulated outage No. 1

Maximum error for BSSD–INS and BSSD–INS–MM tracks at the inserted outages

Solution Maximum error (m)_ UTM datum Improvement %
BSSD–INS BSSD–INS–MM
Outages Easting Northing 2D Hz Easting Northing 2D Hz 2D Hz
1 33.47 30.45 45.25 2.98 2.50 3.74 92
2 32.70 31.80 45.61 3.00 3.46 4.58 90
3 81.96 73.42 110.04 2.57 2.49 3.11 97
4 64.76 56.70 86.08 3.22 3.13 3.97 95
5 95.52 117.28 151.25 2.20 2.55 3.29 98
6 117.23 97.25 152.31 3.37 3.50 4.86 97
eISSN:
2083-6104
Język:
Angielski
Częstotliwość wydawania:
4 razy w roku
Dziedziny czasopisma:
Geosciences, other
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