Permanent Link to Using consumer-grade sensors for precise positioning
By Urs Niesen, Jubin Jose, Xinzhou Wu, Qualcomm Technologies Inc.
Emerging automotive applications require reliable but at the same time low-cost positioning solutions. In this paper, we present such a solution by fusing the measurements from several consumer-grade sensors using a tightly coupled centralized filter.
The sensors used are a single-frequency GNSS receiver providing GPS and GLONASS pseudoranges and GPS carrier-phase measurements, a micro-electro-mechanical (MEMS) inertial measurement unit (IMU), a monocular camera, wheel-speed and steering-angle sensors.
We also employ vehicular constraints, integrated as pseudo-measurements. The centralized fusion architecture allows sensor cross-calibration and improves outlier detection. The filter runs in real time on the target platform, producing pose estimates at 30 Hz. Through extensive experimental evaluations, we demonstrate positioning accuracies of sub-meter 95-percentile horizontal errors even in GNSS-challenged deep-urban scenarios.
Conflicting Requirements. Accurate positioning is a requirement for several emerging vehicular applications such as advanced driver-assistance systems (ADAS) and autonomous driving. Positioning solutions for these applications face two competing constraints. To be technically viable, the computed position estimate needs to be reliable in scenarios ranging from open sky to deep urban, with less than 1-meter 95-percentile horizontal error as an often-mentioned target. To be economically viable, the system needs to be built from consumer-grade components.
We reconcile these conflicting requirements by fusing measurements from several low-cost sensors into a single pose estimate using one centralized extended Kalman filter (EKF). A multi-constellation single-frequency GNSS receiver provides GPS pseudorange and carrier-phase measurements and GLONASS pseudorange measurements. These are combined in a tightly coupled integration architecture with a consumer-grade MEMS IMU used to produce the reference navigation solution.
Tight integration enables outlier rejection directly for the raw GNSS measurements. This is crucial in deep-urban scenarios, since many or most raw GNSS measurements could be outliers in these conditions. We use a monocular camera and vehicular sensors, providing four wheel-speed measurements and a steering-angle measurement, as additional aiding sensors.
Constraints. Finally, vehicular constraints are integrated as pseudo-measurements. These sensors have very different noise sources and failure modes, which allows cross-calibration and improves failure and outlier detection. Given the tightly coupled integration in a single EKF, the filter state is quite large and can reach more than 100 dimensions. Despite its size, we are able to run the filter in real time and on target, producing pose outputs at a rate of 30 Hz.
We report the result of extensive experimental evaluations in different scenarios ranging from open sky with good satellite visibility to deep urban with long stretches of no or only limited satellite visibility. In each of these scenarios, we obtain the target accuracy of sub-meter 95% horizontal positioning error.
We show that, in the benign open-sky scenarios, GPS and IMU sensors are sufficient to achieve the target accuracy. However, in challenging deep-urban scenarios, all the integrated sensors are required to attain reliable sub-meter positioning performance.
Sensors and Components. We use Qualcomm SiRFstarV 5e B02 GNSS chipset, a low-cost commercial GNSS product, connected to a NovAtel GPS-702-GG dual-frequency GPS+GLONASS Pinwheel antenna, the only component not consumer-grade, to separate impact of a specific antenna on performance. We plan to evaluate low-cost antennas in the future. We use a TDK InvenSense low-cost MEMS 6-axis IMU (MPU-6150) and a vehicle interface with vehicle sensors through the controller area network bus. Accurate timestamping for tightly coupling sensor measurements is provided by a custom sensor sync board. The processor is a Qualcomm Snapdragon 820 automotive platform for real-time computation. (Qualcomm SiRFstar and Qualcomm Snapdragon are products of Qualcomm Technologies, Inc. and/or its subsidiaries.)
This paper was presented at ION-GNSS+ 2018.
.
item: Vehicle mini gps signal jammer kennywood | wholesale gps signal jammer gun
4.8
49 votes
vehicle mini gps signal jammer kennywood
When the brake is applied green led starts glowing and the piezo buzzer rings for a while if the brake is in good condition.the predefined jamming program starts its service according to the settings,this project shows the starting of an induction motor using scr firing and triggering,and frequency-hopping sequences.go through the paper for more information,a cordless power controller (cpc) is a remote controller that can control electrical appliances.the circuit shown here gives an early warning if the brake of the vehicle fails.the scope of this paper is to implement data communication using existing power lines in the vicinity with the help of x10 modules,this paper shows the controlling of electrical devices from an android phone using an app,mobile jammers block mobile phone use by sending out radio waves along the same frequencies that mobile phone use.the pki 6025 looks like a wall loudspeaker and is therefore well camouflaged,the transponder key is read out by our system and subsequently it can be copied onto a key blank as often as you like,the rating of electrical appliances determines the power utilized by them to work properly,the rf cellular transmitted module with frequency in the range 800-2100mhz,here a single phase pwm inverter is proposed using 8051 microcontrollers.47µf30pf trimmer capacitorledcoils 3 turn 24 awg,the paralysis radius varies between 2 meters minimum to 30 meters in case of weak base station signals.you can copy the frequency of the hand-held transmitter and thus gain access.with our pki 6640 you have an intelligent system at hand which is able to detect the transmitter to be jammed and which generates a jamming signal on exactly the same frequency,6 different bands (with 2 additinal bands in option)modular protection.auto no break power supply control.
Overload protection of transformer.2110 to 2170 mhztotal output power,the rating of electrical appliances determines the power utilized by them to work properly.high voltage generation by using cockcroft-walton multiplier.this paper shows the real-time data acquisition of industrial data using scada,
http://www.pfmict.it/mf3jt20A108
,2100 – 2200 mhz 3 gpower supply.a prerequisite is a properly working original hand-held transmitter so that duplication from the original is possible.a mobile phone might evade jamming due to the following reason,2100 to 2200 mhz on 3g bandoutput power.law-courts and banks or government and military areas where usually a high level of cellular base station signals is emitted.the rft comprises an in build voltage controlled oscillator,we just need some specifications for project planning,the data acquired is displayed on the pc,the present circuit employs a 555 timer.you may write your comments and new project ideas also by visiting our contact us page,hand-held transmitters with a „rolling code“ can not be copied.this paper serves as a general and technical reference to the transmission of data using a power line carrier communication system which is a preferred choice over wireless or other home networking technologies due to the ease of installation,the frequency blocked is somewhere between 800mhz and1900mhz.according to the cellular telecommunications and internet association.phase sequence checker for three phase supply.
One of the important sub-channel on the bcch channel includes.completely autarkic and mobile,6 different bands (with 2 additinal bands in option)modular protection.pki 6200 looks through the mobile phone signals and automatically activates the jamming device to break the communication when needed,check your local laws before using such devices.1900 kg)permissible operating temperature.this project shows the automatic load-shedding process using a microcontroller,while the second one shows 0-28v variable voltage and 6-8a current,this project shows charging a battery wirelessly,but communication is prevented in a carefully targeted way on the desired bands or frequencies using an intelligent control,.