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Tightly coupled INS/DGPS system for collaborative navigation in mobile ad hoc networks

Pagès, Gaël and Nguyen, Anh-Dung and Priot, Benoit and Pérennou, Tanguy and Calmettes, Vincent Tightly coupled INS/DGPS system for collaborative navigation in mobile ad hoc networks. (2014) In: ION GNSS+ 2014, 8 September 2014 - 12 September 2014 (Tampa, United States).

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Navigation in harsh environments like urban canyons is still a great challenge. First, the lack of integrity in pseudorange measurements leads to performance degradation. Moreover, in case of satellite outage, Global Navigation Satellite Systems (GNSS) based positioning cannot be achieved. This paper proposes to use collaborative methods to augment GNSS coverage in the case of a fleet of drones partly evolving in such harsh environments. Members of the fleet exchange positioning information on a peer-to-peer basis using their radio equipment. They simultaneously estimate the distance to the sender, using either the radio signal strength or a specific ranging equipment. The navigation algorithm is modified to integrate both peer positioning and peer ranging information. Using extensive Monte-Carlo simulations, we investigate two different collaborative approaches associated with a tightly coupled Differential GPS (DGPS) and INS (Inertial Navigation System) integrated system, and two different ranging models. We show that both collaborative approaches substantially improve the positioning coverage of fleet members experiencing partial or full GNSS outage. In our setup, collaborative approaches achieve horizontal precisions of a few meters after two minutes of outage, where a standalone INS, using a low-cost MEMS-based IMU (Inertial Measurement Unit), would derive up to hundreds of meters.

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 2014 09:05

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