Dependable navigation in GPS denied environment: A multi-sensor fusion technique

摘要

This paper deals with finding a dependable navigation solution using multiple sensors mount and exploiting the available sensor's synergetic characteristics. We present two fusion techniques commonly known as centralized and decentralized and show that multisensor fusion is better option than individual sensors for reliable navigation. GPS, encoders are used as INS aiding sensors for which a sensor quality module is designed to get robust estimates at filter output. Experimental results are quite promising and cost effective compared with using high cost and bulky Span-SE system reference navigation unit, for achieving the comparable accuracy. Choice of multi-sensor aiding has benefit over single sensor. Our proposed navigation suit provides reliable accuracy for Unmanned Ground Vehicles (UGV) application in GPS denied environment, such as forest canopy and urban canyon.