Sensors, Vol. 20, Pages 6567: Optical and Mass Flow Sensors for Aiding Vehicle Navigation in GNSS Denied Environment

Sensors, Vol. 20, Pages 6567: Optical and Mass Flow Sensors for Aiding Vehicle Navigation in GNSS Denied Environment Sensors doi: 10.3390/s20226567 Authors: Moussa Zahran Mostafa Moussa El-Sheimy Elhabiby Nowadays, autonomous vehicles have achieved a lot of research interest regarding the navigation, the surrounding environmental perception, and control. Global Navigation Satellite System/Inertial Navigation System (GNSS/INS) is one of the significant components of any vehicle navigation system. However, GNSS has limitations in some operating scenarios such as urban regions and indoor environments where the GNSS signal suffers from multipath or outage. On the other hand, INS standalone navigation solution degrades over time due to the INS errors. Therefore, a modern vehicle navigation system depends on integration between different sensors to aid INS for mitigating its drift during GNSS signal outage. However, there are some challenges for the aiding sensors related to their high price, high computational costs, and environmental and weather effects. This paper proposes an integrated aiding navigation system for vehicles in an indoor environment (e.g., underground parking). This proposed system is based on optical flow and multiple mass flow sensors integrations to aid the low-cost INS by providing the navigation extended Kalman filter (EKF) with forward velocity and change of heading updates to enhance the vehicle navigation. The optical flow is compu...
Source: Sensors - Category: Biotechnology Authors: Tags: Article Source Type: research