An Autonomous GNSS/MEMS-Based INS Integrated System for Unmanned Mapping Operations

用于无人测绘操作的基于 GNSS/MEMS 的自主 INS 集成系统

• 批准号: RGPIN-2016-04295
• 负责人: ElRabbany, Ahmed
• 金额: $ 1.75万
• 依托单位: Ryerson University
• 依托单位国家: 加拿大
• 项目类别: Discovery Grants Program - Individual
• 财政年份: 2017
• 资助国家: 加拿大
• 起止时间: 2017-01-01 至 2018-12-31
• 项目状态: 已结题
• 来源: https://www.nserc-crsng.gc.ca/ase-oro/Details-Detailles_eng.asp?id=636306
• 关键词: Autonomous; GNSS; MEMS; Based; INS

The evolution of small unmanned surface vehicles (USVs) and unmanned aerial vehicles (UAVs) in recent years has opened the door for the development of low-cost systems that can be used for many critical applications. These include seafloor and topographic mapping, disaster monitoring, search and rescue, public safety, precision agriculture, open-pit mining, road inspection, and others. The use of USVs and UAVs in these critical applications, however, often requires continuous high accuracy positioning and attitude information. Unfortunately, existing positioning and attitude systems are either very expensive and bulky or very inaccurate. The former system types, which typically integrate differential global positioning system (GPS) and high-end inertial sensors, cannot be used on small unmanned mapping systems due to their weight and cost. The latter types, on the other hand, often rely on low-cost GPS systems, which cannot provide accurate positioning and attitude information and are susceptible to signal blockage and interference, especially in urban areas.

近年来，小型无人水面车辆 (USV) 和无人机 (UAV) 的发展为开发可用于许多关键应用的低成本系统打开了大门。其中包括海底和地形测绘、灾害监测、搜救、公共安全、精准农业、露天采矿、道路检查等。然而，在这些关键应用中使用无人水面艇和无人机通常需要连续的高精度定位和姿态信息。不幸的是，现有的定位和姿态系统要么非常昂贵且体积庞大，要么非常不准确。以前的系统类型通常集成差分全球定位系统（GPS）和高端惯性传感器，但由于其重量和成本而无法用于小型无人测绘系统。另一方面，后者往往依赖于低成本的GPS系统，无法提供准确的定位和姿态信息，并且容易受到信号阻塞和干扰，尤其是在城市地区。