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Low-Cost INS/DGPS-Aided Collaborative Navigation In Mobile Ad Hoc Network

Nguyen, Anh-Dung and Pagès, Gaël and Pérennou, Tanguy and Calmettes, Vincent Low-Cost INS/DGPS-Aided Collaborative Navigation In Mobile Ad Hoc Network. (2014) In: European Navigation Conference - Global Navigation Satellite Sytems - (ENC-GNSS), 15 April 2014 - 17 April 2014 (Rotterdam, Netherlands).

(Document in English)

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In this paper, our contributions address the issues of sub-metric positioning and navigation of a mobile ad hoc network, by using widely available low cost resources. In this framework, we propose to assess the positioning performance of a loosely coupled INS/DGPS integration system improved with radio-based ranging collaborative algorithms. We propose two collaborative solutions: Linear Matrix Inequalities (LMI) based method and Bounding Box method. These methods consist in estimating a node’s position by finding the regions in which the node has a high probability to stay in, either by intersecting convex regions (LMI) or rectangular regions (Bounding Box). The latter is less accurate but simpler in term of complexity and hence easier to embed. The absolute positioning accuracy of each loosely coupled INS/DGPS-aided Collaborative approach will be compared to a loosely coupled INS/DGPS single differencing solution using simulated datasets. The obtained improvements of the proposed methods will be discussed.

Item Type:Conference or Workshop Item (Paper)
Audience (conference):International conference proceedings
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Institution:Université de Toulouse > Institut Supérieur de l'Aéronautique et de l'Espace - ISAE-SUPAERO (FRANCE)
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Deposited On:14 Oct 2019 15:18

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