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Títol: Implementation of GNSS/INS/Coop sensor fusion techniques for enhanced vehicle navigation

Director/a: ARRIBAS LÁZARO, JAVIER

Departament: FIS

Títol: Implementation of GNSS/INS/Coop sensor fusion techniques for enhanced vehicle navigation

Data inici oferta: 21-01-2019 Data finalització oferta: 21-09-2019

Estudis d'assignació del projecte:

DG ENG AERO/SIS TEL

DG ENG AERO/TELEMÀT

GR ENG SIST AEROESP

MU AEROSPACE S&T 15

MU DRONS

Tipus: Conjunt Nombre d'estudiants per realitzar-ho: 1-2

Lloc de realització: EETAC

Paraules clau:
GNSS, IMU, INS, Navigation, GPS

Descripció del contingut i pla d'activitats:
This project proposal is focused on the implementation of a set of Global Navigation Satellite Systems (GNSS) / Inertial Navigation Systems (INS) sensor fusion techniques enhanced by supporting cooperative distance measurements to improve its positioning performance for terrestrial and aerial vehicle navigation. The students, assumed they have basic knowledge of GNSS and Inertial Navigation techniques (e.g. dead reckoning equations), will start by learning the basics of a Bayesian filtering based on the well-known and widely-used Extended Kalman filter applied to the GNSS/INS fusion problem. Then, a pair of state-of-the-art sensor fusion algorithms will be selected from the available literature and will be implemented in an existing open-source C++ real-time platform based on a raspberry pi coupled with a GNSS receiver and an IMU device. Algorithm implementation validation will be done using MATLAB simulations. Finally, the prototype will be mounted in a vehicle for real- life testing in a measurement campaign. The proposal is intended for two students to split the software implementation effort and to help each other in the measurement campaign.

Overview (resum en anglès):
TIMON project, funded by the European Union, H2020 framework, establishes an enhanced real time services for an optimized multimodal mobility relying on cooperative networks and open data. Thanks to that, its objective is to achieve a new, intelligent, safer, efficient and sustainable traffic system; which is one of the seven different social challenges identified by the European Commission. The Centre Tecnològic de Telecomunicacions de Catalunya (CTTC) is one of the organizations that make up the TIMON’s consortium and it has developed a positioning platform prototype based on two systems: Inertial Navigation System (INS) and Global Navigation Satellite System (GNSS). In 2018, CTTC advised a thesis based on its prototype, the sensor fusion system and the high-precision indoor/outdoor unmanned aerial vehicles (UAV) navigation. This work is a continuation of the previous one and it expects to apply the previous studies and advances to enhance the land and air vehicle navigation. The content of the document is distributed in nine chapters, besides an introduction and conclusions. First, the introduction presents the original project, TIMON, from which this thesis was developed, it defines the main problems that prevent the desired results and sets out the main objective of the thesis and the possible applications for the solution of the problems. Next, the two technologies used by TIMON are briefly introduced hereafter, among its advantages and limitations. After that, Ultra-wideband (UWB) technology is described and, in particular, the main devices of the project, the UWB nodes developed by Decawave Ltd. Chapter 3 briefly covers TIMON, the existing integration architectures and the CTTC prototype. Thereafter, the UWB nodes integration procedure for the prototype is detailed. Once the integration is demonstrated, Chapter 5 explains in detail the first test conducted in the open field which allows the UWB firmware debugging. The prototype has to be carried by a vehicle; so, next, the assembly and preparation of an unmanned aerial vehicle (UAV) are detailed. Subsequently, the necessary software and steps for the integration are explained. Chapter 9 explains in detail the results of the last test to compare them with those of the first one. Finally, the last part of this thesis corresponds to the obtained conclusions throughout the development throughout the development and the studies accomplished.