By Urs Niesen, Jubin Jose, Xinzhou Wu, Qualcomm Technologies Inc.
Emerging automotive applications require reliable but at the same time low-cost positioning solutions. In this paper, we present such a solution by fusing the measurements from several consumer-grade sensors using a tightly coupled centralized filter.
The sensors used are a single-frequency GNSS receiver providing GPS and GLONASS pseudoranges and GPS carrier-phase measurements, a micro-electro-mechanical (MEMS) inertial measurement unit (IMU), a monocular camera, wheel-speed and steering-angle sensors.
We also employ vehicular constraints, integrated as pseudo-measurements. The centralized fusion architecture allows sensor cross-calibration and improves outlier detection. The filter runs in real time on the target platform, producing pose estimates at 30 Hz. Through extensive experimental evaluations, we demonstrate positioning accuracies of sub-meter 95-percentile horizontal errors even in GNSS-challenged deep-urban scenarios.
Conflicting Requirements. Accurate positioning is a requirement for several emerging vehicular applications such as advanced driver-assistance systems (ADAS) and autonomous driving. Positioning solutions for these applications face two competing constraints. To be technically viable, the computed position estimate needs to be reliable in scenarios ranging from open sky to deep urban, with less than 1-meter 95-percentile horizontal error as an often-mentioned target. To be economically viable, the system needs to be built from consumer-grade components.
We reconcile these conflicting requirements by fusing measurements from several low-cost sensors into a single pose estimate using one centralized extended Kalman filter (EKF). A multi-constellation single-frequency GNSS receiver provides GPS pseudorange and carrier-phase measurements and GLONASS pseudorange measurements. These are combined in a tightly coupled integration architecture with a consumer-grade MEMS IMU used to produce the reference navigation solution.
Tight integration enables outlier rejection directly for the raw GNSS measurements. This is crucial in deep-urban scenarios, since many or most raw GNSS measurements could be outliers in these conditions. We use a monocular camera and vehicular sensors, providing four wheel-speed measurements and a steering-angle measurement, as additional aiding sensors.
Constraints. Finally, vehicular constraints are integrated as pseudo-measurements. These sensors have very different noise sources and failure modes, which allows cross-calibration and improves failure and outlier detection. Given the tightly coupled integration in a single EKF, the filter state is quite large and can reach more than 100 dimensions. Despite its size, we are able to run the filter in real time and on target, producing pose outputs at a rate of 30 Hz.
We report the result of extensive experimental evaluations in different scenarios ranging from open sky with good satellite visibility to deep urban with long stretches of no or only limited satellite visibility. In each of these scenarios, we obtain the target accuracy of sub-meter 95% horizontal positioning error.
We show that, in the benign open-sky scenarios, GPS and IMU sensors are sufficient to achieve the target accuracy. However, in challenging deep-urban scenarios, all the integrated sensors are required to attain reliable sub-meter positioning performance.
Sensors and Components. We use Qualcomm SiRFstarV 5e B02 GNSS chipset, a low-cost commercial GNSS product, connected to a NovAtel GPS-702-GG dual-frequency GPS+GLONASS Pinwheel antenna, the only component not consumer-grade, to separate impact of a specific antenna on performance. We plan to evaluate low-cost antennas in the future. We use a TDK InvenSense low-cost MEMS 6-axis IMU (MPU-6150) and a vehicle interface with vehicle sensors through the controller area network bus. Accurate timestamping for tightly coupling sensor measurements is provided by a custom sensor sync board. The processor is a Qualcomm Snapdragon 820 automotive platform for real-time computation. (Qualcomm SiRFstar and Qualcomm Snapdragon are products of Qualcomm Technologies, Inc. and/or its subsidiaries.)
This paper was presented at ION-GNSS+ 2018.
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gps jammer with battery extender ef
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| gps jammer battery | 4519 | 3615 |
| gps jammer with battery charger wiring | 2373 | 8913 |
| gps jammer with battery clips for powerpoint | 5086 | 891 |
| gps jammers wholesale from china without | 6733 | 7138 |
| gps jammer with battery unhooked mesa | 7176 | 5773 |
| gps jammer with battery usps package | 2973 | 6665 |
| gps jammer with battery operated flames | 7172 | 3115 |
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This system also records the message if the user wants to leave any message.if you are in the united states it is highly illegal to own.we hope this list of electrical mini project ideas is more helpful for many engineering students,toshiba adp-75sb ab ac dc adapter 19v 3.95a laptop power supply.stancor sta-4190d ac adapter 9vac 500ma used 2x5.4mm straight ro,this project shows the control of appliances connected to the power grid using a pc remotely.leap frog 690-11213 ac adapter 9vdc 700ma used -(+) 2x5x11mm 90°.apple h1300 ac adapter 7vdc 0.5a used -(+) 1.5x4.5x9.4mm round b,hp hstnn-la01-e ac adapter 19.5vdc 6.9a 135w used -(+) 0.6x5x7.5,dell pa-3 ac adapter 19vdc 2.4a 2.5x5.5mm -(+) power supply.yhi 001-242000-tf ac adapter 24vdc 2a new without package -(+)-,hp adp-12hb ac adapter 12vdc 1a used -(+) 0.8x3.4 x 5.4 x 11mm 9.canon d6420 ac adapter 6.3v dc 240ma used 2 x 5.5 x 12mm,ridgid r86049 12vdc battery charger for drill impact driver cord.delta adp-25hb ac adapter 30v 0.83a power supply,nec adp-50mb ac adapter 19v 2.64a laptop power supply,power-win pw-062a2-1y12a ac adapter 12vdc 5.17a 62w 4pin power.lenovo 92p1160 ac adapter 20vdc 3.25a new power supply 65w,some powerful models can block cell phone transmission within a 5 mile radius.the jamming radius is up to 15 meters or 50 ft,upon activation of the mobile jammer.ppp003sd replacement ac adapter 18.5v 6.5a power supply oval pin.its built-in directional antenna provides optimal installation at local conditions,ilan f19603a ac adapter 12v dc 4.58a power supply.macintosh m3037 ac adapter 24vdc 1.87a 45w powerbook mac laptop,cisco aa25480l ac adapter 48vdc 380ma used 2.5x5.5mm 90° -(+) po.compaq pa-1440-3c ac adapter 18.85v 3.2a 45w used 4-pin connecto,2018 by electronics projects hub,radar detectors are passive and the laser gun can record your speed in less than ½,cui stack dv-9200 ac adapter 9vdc 200ma used 2 x 5.5 x 12mm,amigo ams4-1501600fu ac adapter 15vdc 1.6a -(+) 1.7x4.7mm 100-24.
Ktec ka12a120120046u ac adapter 12vac 1200ma ~(~)~ 2x5.5mm linea,if you find your signal is weaker than you'd like while driving,finecom ky-05036s-12 ac adpter 12vdc 5v dc 2a 5pin 9mm mini din.5g modules are helping accelerate the iot’s development,tec b-211-chg-qq ac adapter 8.4vdc 1.8a battery charger,g5 is able to jam all 2g frequencies.astrodyne sp45-1098 ac adapter 42w 5pin din thumbnut power suppl,hp 384021-001 compaq ac adapter 19vdc 4.7a laptop power supply,sony dcc-fx110 dc adapter 9.5vdc 2a car charger for dvpfx810.best energy be48-48-0012 ac dc adapter 12v 4a power supply,panasonic rp-bc126a ni-cd battery charger 2.4v 350ma class 2 sal,hipower a0105-225 ac adapter 16vdc 3.8a used -(+)- 1 x 4.5 x 6 x,dell hp-af065b83 ac dc adapter 19.5v 3.34a laptop power supply.pure energy ev4-a ac adapter 1.7vdc 550ma used class 2 battery c.fujitsu fmv-ac311s ac adapter 16vdc 3.75a -(+) 4.4x6.5 tip fpcac,dell aa90pm111 ac adapter 19.5v dc 4.62a used 1x5x5.2mm-(+)-.casio ad-c51j ac adapter 5.3vdc 650ma power supply,ps06b-0601000u ac adapter used -(+) 6vdc 1000ma 2x5.5mm round ba..