IAG-IASPEI 2017

Presentation information

Oral

IAG Symposia » G05. Multi-signal positioning: Theory and applications

[G05-1] Indoor and outdoor navigation

Fri. Aug 4, 2017 8:30 AM - 10:00 AM Room 504+505 (Kobe International Conference Center 5F, Room 504+505)

Chairs: Vassilis Gikas (National Technical University of Athens) , Jinling Wang (University of New South Wales)

9:00 AM - 9:15 AM

[G05-1-03] The Database Referenced Navigation Algorithms : A new attempt at combining geophysical DBs and navigation algorithms

Jisun Lee, Jay Hyoun Kwon (University of Seoul, Seoul, South Korea)

Recently, an alternative navigation method which uses various geophysical database is being studied for compensating for inertial navigation system (INS) errors against the non-global navigation satellite system (GNSS) environment. In virtue of precise geophysical sensors and databases, the precision of the database referenced navigation (DBRN) system is known to be from the few tens, even hundreds of meters. However, the stability of the DBRN dramatically decreases due to the inconsistency of the geophysical DBs. Especially, filter based navigation algorithm sometimes diverges once wrong or over correction occur. Therefore, the way to develop more robust navigation algorithm is still an important question in the DBRN.
In this study, two new attempts to combine geophysical DBs or navigation algorithms are tried to improve the stability. Since geophysical DBs show different local characteristics, both terrain and geophysical DBs are applied to estimate the position of the vehicle in the extended Kalman filter (EKF)-based navigation algorithm. Then, the profile matching algorithm which uses stacked terrain information is realized to evaluate the stability of the EKF-based algorithm. Once, two solutions show large differences, the position from the profile matching is selected or used to estimate the new position. The effects of applying two geophysical DBs in the EKF-based algorithm and combining navigation algorithms are evaluated through simulation tests. Especially, the stability of the navigation performance is verified when geophysical DBs changes abruptly or diminutively. Finally, Some discussions on the future works are also included.