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Paper Abstract and Keywords
Presentation 2023-03-02 17:20
Evaluation on integrated positioning system using GNSS/IMU/Odometer
Hiroo Komatsu, Nobuaki Kubo (TUMSAT) SANE2022-105
Abstract (in Japanese) (See Japanese page) 
(in English) We studied Loosely Coupled and Tightly Coupled using GNSS and IMU. After explaining the flow and design method of each integration method, we compared the performance of the two methods in a normal urban area and a dense urban area. This study also focuses on methods to improve the accuracy of IMU in the dense urban area, where GNSS positioning is often inadequate. In addition, supplementary sensors such as odometer was used to improve positioning accuracy by compensating for the shortcomings of GNSS and IMU. As a result, the horizontal positioning error of the integrated positioning was reduced to within 1.5m in maximum. Future works are to improve the accuracy of the altitude and heading by attitude estimation and slip angle estimation.
Keyword (in Japanese) (See Japanese page) 
(in English) GNSS / INS / Loosely Coupled / Tightly Coupled / / / /  
Reference Info. IEICE Tech. Rep., vol. 122, no. 408, SANE2022-105, pp. 37-42, March 2023.
Paper # SANE2022-105 
Date of Issue 2023-02-23 (SANE) 
ISSN Online edition: ISSN 2432-6380
Copyright
and
reproduction		 All rights are reserved and no part of this publication may be reproduced or transmitted in any form or by any means, electronic or mechanical, including photocopy, recording, or any information storage and retrieval system, without permission in writing from the publisher. Notwithstanding, instructors are permitted to photocopy isolated articles for noncommercial classroom use without fee. (License No.: 10GA0019/12GB0052/13GB0056/17GB0034/18GB0034)
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Conference Information
Committee SANE SAT  
Conference Date 2023-03-02 - 2023-03-03 
Place (in Japanese) (See Japanese page) 
Place (in English)  
Topics (in Japanese) (See Japanese page) 
Topics (in English)  
Paper Information
Registration To SANE 
Conference Code 2023-03-SANE-SAT 
Language Japanese 
Title (in Japanese) (See Japanese page) 
Sub Title (in Japanese) (See Japanese page) 
Title (in English) Evaluation on integrated positioning system using GNSS/IMU/Odometer 
Sub Title (in English)  
Keyword(1) GNSS  
Keyword(2) INS  
Keyword(3) Loosely Coupled  
Keyword(4) Tightly Coupled  
Keyword(5)  
Keyword(6)  
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Keyword(8)  
1st Author's Name Hiroo Komatsu  
1st Author's Affiliation Tokyo University of Marine Science and Technology (TUMSAT)
2nd Author's Name Nobuaki Kubo  
2nd Author's Affiliation Tokyo University of Marine Science and Technology (TUMSAT)
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Speaker Author-1 
Date Time 2023-03-02 17:20:00 
Presentation Time 20 minutes 
Registration for SANE 
Paper # SANE2022-105 
Volume (vol) vol.122 
Number (no) no.408 
Page pp.37-42 
#Pages 6 
Date of Issue 2023-02-23 (SANE) 

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