Implementation of INS/MAG/GNSS hybridisation technique for pose determination based on SoC and low cost sensors: Theoretical approach and synthesis

摘要

For the purpose of determining the pose (position and orientation) of a moving object, inertial sensors and magnetometer data are computed to enhance GNSS data accuracy. This paper develops a method called hybrid localisation that combines absolute localisation, using exteroceptive data, and dead reckoning technique, using proprioceptive data. The hybridisation technique uses tightly coupled approach in closed-loop to reduce computation time and hardware resources. The paper presents a synthesis about the hybridisation technique for pose determination and some previous works analysis.