An enhanced integrity multisensor Fusion for a reliable seamless navigation.
Since its first applications in the late 20th century, GNSS technology has been deployed by the world’s technologically advanced countries in multiple fields, from fleet monitoring to sport-related topics. This massive deployment has led to new use cases that may not have been expected during the de...
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| Format: | info:eu-repo/semantics/doctoralThesis |
| Language: | eng |
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2023
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| Subjects: | |
| Online Access: | https://hdl.handle.net/10171/65007 |
| _version_ | 1793400602971078656 |
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| author | Zabalegui-Landa, P. (Paul) Adin-Marcos, I.(Iñigo) De Miguel-Aramburu, G.(Gorka) |
| author_facet | Zabalegui-Landa, P. (Paul) Adin-Marcos, I.(Iñigo) De Miguel-Aramburu, G.(Gorka) |
| author_sort | Zabalegui-Landa, P. (Paul) |
| collection | DSpace |
| description | Since its first applications in the late 20th century, GNSS technology has been deployed by the world’s technologically advanced countries in multiple fields, from fleet monitoring to sport-related topics. This massive deployment has led to new use cases that may not have been expected during the definition of said technology. Different error sources, such as interferences, jamming, signal attenuation due to indoor or urban canyon navigation, and signal-blocking objects may degrade the performance of GNSS-based navigation. Thus, standalone GNSS systems may not fulfil all the requirements a certain scenario might ask for. This has resulted in the research of alternative or supplementary methods to solve the aforementioned issues, such as multisensor navigation. This has become one of the main alternatives to GNSS standalone navigation, as it has been shown in the literature that it can result in an improvement in navigation in terms of availability or continuity, for example. Human-life involvement and high-cost freight transportation, among other factors, have attracted the attention of the users to the definition of a measure of trust that is placed in the correctness of the information supplied by the navigation systems; also called integrity. This concept is employed, among others, to enable the system to detect if it is trustable for navigation, provide warnings, and even act consequently. In this dissertation, we analyze, first, the design of an online multisensory navigation algorithm as a solution to the issues GNSS suffers especially in urban and indoor environments. Moreover, a two-stage integrity-ensuring method is analyzed, being this second algorithm a tailored complementary feature of the proposed navigation one. |
| format | info:eu-repo/semantics/doctoralThesis |
| id | oai:dadun.unav.edu:10171-65007 |
| institution | Universidad de Navarra |
| language | eng |
| publishDate | 2023 |
| record_format | dspace |
| spelling | oai:dadun.unav.edu:10171-650072023-09-05T08:51:20Z An enhanced integrity multisensor Fusion for a reliable seamless navigation. Zabalegui-Landa, P. (Paul) Adin-Marcos, I.(Iñigo) De Miguel-Aramburu, G.(Gorka) Multisensor navigation GNSS UWB IMU FDE Enhanced Integrity Urban navigation Navegación multisensor Since its first applications in the late 20th century, GNSS technology has been deployed by the world’s technologically advanced countries in multiple fields, from fleet monitoring to sport-related topics. This massive deployment has led to new use cases that may not have been expected during the definition of said technology. Different error sources, such as interferences, jamming, signal attenuation due to indoor or urban canyon navigation, and signal-blocking objects may degrade the performance of GNSS-based navigation. Thus, standalone GNSS systems may not fulfil all the requirements a certain scenario might ask for. This has resulted in the research of alternative or supplementary methods to solve the aforementioned issues, such as multisensor navigation. This has become one of the main alternatives to GNSS standalone navigation, as it has been shown in the literature that it can result in an improvement in navigation in terms of availability or continuity, for example. Human-life involvement and high-cost freight transportation, among other factors, have attracted the attention of the users to the definition of a measure of trust that is placed in the correctness of the information supplied by the navigation systems; also called integrity. This concept is employed, among others, to enable the system to detect if it is trustable for navigation, provide warnings, and even act consequently. In this dissertation, we analyze, first, the design of an online multisensory navigation algorithm as a solution to the issues GNSS suffers especially in urban and indoor environments. Moreover, a two-stage integrity-ensuring method is analyzed, being this second algorithm a tailored complementary feature of the proposed navigation one. Desde sus primeras aplicaciones a fines del siglo XX, la tecnología GNSS ha sido implementada por los países tecnológicamente avanzados del mundo en múltiples campos, desde la monitorización de flotas hasta temas relacionados con el deporte. Este despliegue masivo ha dado lugar a nuevos casos de uso no contemplados durante la definición de dicha tecnología. Diferentes fuentes de error, como interferencias, atenuación de la señal debido a la navegación en interiores o en cañones urbanos y objetos que bloquean la señal pueden degradar el rendimiento de la navegación basada en GNSS. Por lo tanto, es posible que los sistemas basados únicamente en GNSS no cumplan con todos los requisitos que podría solicitar un determinado escenario. Esto ha dado lugar a la investigación de métodos alternativos o complementarios para solucionar los problemas antes mencionados, como la navegación multisensor. Ésta se ha convertido en una de las principales alternativas a la navegación autónoma GNSS, ya que se ha demostrado en la literatura que puede resultar en una mejora en la navegación en términos de disponibilidad o continuidad, por ejemplo. La afectación de la vida humana y el transporte de carga de alto costo, entre otros factores, han llamado la atención de los usuarios sobre la definición de una medida de confianza que se deposita en la exactitud de la información suministrada por los sistemas de navegación; también llamada integridad. Este concepto se emplea, entre otros, para que el sistema detecte si es fiable para la navegación, emita avisos e incluso actúe en consecuencia. En esta tesis analizamos, en primer lugar, el diseño de un algoritmo de navegación multisensorial online como solución a los problemas que sufre el GNSS especialmente en entornos urbanos e interiores. Además, se analiza un método de aseguramiento de la integridad en dos etapas, siendo este segundo algoritmo una característica complementaria a la medida del de navegación propuesto. 2023-01-18T16:52:11Z 2023-01-18T16:52:11Z 2023-01 2022-11-25 info:eu-repo/semantics/doctoralThesis https://hdl.handle.net/10171/65007 eng info:eu-repo/semantics/embargoedAccess application/pdf |
| spellingShingle | Multisensor navigation GNSS UWB IMU FDE Enhanced Integrity Urban navigation Navegación multisensor Zabalegui-Landa, P. (Paul) Adin-Marcos, I.(Iñigo) De Miguel-Aramburu, G.(Gorka) An enhanced integrity multisensor Fusion for a reliable seamless navigation. |
| title | An enhanced integrity multisensor Fusion for a reliable seamless navigation. |
| title_full | An enhanced integrity multisensor Fusion for a reliable seamless navigation. |
| title_fullStr | An enhanced integrity multisensor Fusion for a reliable seamless navigation. |
| title_full_unstemmed | An enhanced integrity multisensor Fusion for a reliable seamless navigation. |
| title_short | An enhanced integrity multisensor Fusion for a reliable seamless navigation. |
| title_sort | enhanced integrity multisensor fusion for a reliable seamless navigation. |
| topic | Multisensor navigation GNSS UWB IMU FDE Enhanced Integrity Urban navigation Navegación multisensor |
| url | https://hdl.handle.net/10171/65007 |
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