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: 2018
• 资助国家: 加拿大
• 起止时间: 2018-01-01 至 2019-12-31
• 项目状态: 已结题
• 来源: https://www.nserc-crsng.gc.ca/ase-oro/Details-Detailles_eng.asp?id=650128
• 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.***To overcome the above limitations, a low-cost autonomous positioning and orientation system will be developed in this research. The proposed system integrates multi-constellation global navigation satellite systems (GNSS) and emerging micro-electro-mechanical system (MEMS)-based inertial sensors. Although autonomous, the proposed system will be built on the concept of precise point positioning (PPP) currently being developed by the applicant's research group, which provides accuracy level comparable to that of complex differential real-time kinematic technique (i.e., centimetre to decimeter level). In addition, the proposed system will be developed using tightly coupled mechanization, which is carried out in the raw measurements domain. As such, the GNSS signal can still be used even if the number of satellites drops to below four, which is not the case with GPS-alone system. Moreover, MEMS sensors are relatively environment independent, small, inexpensive, light, and consume very low power. This means that the proposed system, in addition to meeting the required accuracy, reliability and availability, will be inexpensive, small and flexible. As such, it offers significant advantages over existing systems.***The technological outcome of the proposed research project includes algorithms and estimation methodologies for an autonomous, low-cost integrated GNSS/MEMS-based inertial system as well as a software and a prototype system to support commercial next generation small USV and UAV mapping operations. The developed software can be used as a standalone product or can be integrated with another system, for example, on-board imaging systems. This in turn could lead to the development of a smart system that can automate the entire USV or UAV mission. Such an innovative system has not been developed elsewhere.**

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，后者通常依赖于低成本的 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。***为了克服上述限制，一种本研究将开发低成本的自主定位和定向系统。该系统集成了多星座全球导航卫星系统（GNSS）和新兴的基于微机电系统（MEMS）的惯性传感器。虽然是自主的，但所提出的系统将建立在申请人的研究小组目前正在开发的精确单点定位（PPP）概念的基础上，该系统提供的精度水平可与复杂的差分实时运动技术相当（即厘米到分米水平） ）。此外，所提出的系统将使用紧密耦合的机械化来开发，这是在原始测量域中进行的。因此，即使卫星数量降至四颗以下，GNSS 信号仍然可以使用，而单独 GPS 系统则不然。此外，MEMS传感器相对环境独立、体积小、价格便宜、重量轻且功耗非常低。这意味着所提出的系统除了满足所需的准确性、可靠性和可用性之外，还将廉价、小型且灵活。因此，它比现有系统具有显着优势。***拟议研究项目的技术成果包括用于自主、低成本集成 GNSS/MEMS 惯性系统的算法和估计方法以及软件和原型系统支持商业下一代小型USV和无人机测绘作业。开发的软件可以作为独立产品使用，也可以与另一个系统集成，例如机载成像系统。这反过来又可能导致智能系统的开发，该系统可以自动化整个 USV 或 UAV 任务。这种创新系统尚未在其他地方开发出来。**