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Mitigation of odometry drift with a single ranging link in GNSS-limited environments

Lee, Young-Hee and Zhu, Chen and Giorgi, Gabriele and Günther, Christoph (2020) Mitigation of odometry drift with a single ranging link in GNSS-limited environments. In: Institute of Navigation International Technical Meeting 2020, ITM 2020. ION International Technical Meeting 2020 (ITM 2020), USA. doi: 10.33012/2020.17213. ISBN 978-093640624-4.

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Vision-based systems can estimate the vehicle's positions and attitude with a low cost and simple implementation, but the performance is very sensitive to environmental conditions. Moreover, estimation errors are accumulated without a bound since visual odometry is a dead-reckoning process. To improve the robustness to environmental conditions, vision-based systems can be augmented with inertial sensors, and the loop closing technique can be applied to reduce the drift. However, only with on-board sensors, vehicle's poses can only be estimated in a local navigation frame, which is randomly defined for each mission. To obtain globally-referred poses, absolute position estimates obtained with GNSS can be fused with on-board measurements (obtained with either vision-only or visual-inertial odometry). However, in many cases (e.g. urban canyons, indoor environments), GNSS-based positioning is unreliable or entirely unavailable due to signal interruptions and blocking, while we can still obtain ranging links from various sources, such as signals of opportunity or low cost radio-based ranging modules. We propose a graph-based data fusion method of the on-board odometry data and ranging measurements to mitigate pose drifts in environments where GNSS-based positioning is unavailable. The proposed algorithm is evaluated both with synthetic and real data.

Item URL in elib:https://elib.dlr.de/139368/
Document Type:Conference or Workshop Item (Speech)
Title:Mitigation of odometry drift with a single ranging link in GNSS-limited environments
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Zhu, ChenUNSPECIFIEDhttps://orcid.org/0000-0002-4320-4826UNSPECIFIED
Giorgi, GabrieleUNSPECIFIEDhttps://orcid.org/0000-0003-0552-9790UNSPECIFIED
Date:8 December 2020
Journal or Publication Title:Institute of Navigation International Technical Meeting 2020, ITM 2020
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:Yes
Keywords:visual navigation; visual odometry; SLAM; drift mitigation; sensor fusion; robustness
Event Title:ION International Technical Meeting 2020 (ITM 2020)
Event Location:USA
Event Type:international Conference
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Aeronautics
HGF - Program Themes:air traffic management and operations
DLR - Research area:Aeronautics
DLR - Program:L AO - Air Traffic Management and Operation
DLR - Research theme (Project):L - Communication, Navigation and Surveillance (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Communication and Navigation > Navigation
Deposited By: Zhu, Chen
Deposited On:08 Dec 2020 16:16
Last Modified:27 Oct 2023 15:30

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