We describe an integrated navigation system based on Global Navigation Satellite Systems (GNSS), an Inertial Navigation System (INS) and terrestrial ranging technologies that can support accurate and seamless indoor-outdoor positioning. To overcome severe multipath disturbance in indoor environments, Locata technology is used in this navigation system. Such a "Locata-augmented" navigation system can operate in different positioning modes in both indoor and outdoor environments. In environments where GNSS is unavailable, e.g. indoors, the proposed system is designed to operate in the Locata/INS "loosely-integrated" mode. On the other hand, in outdoor environments, all GNSS, Locata and INS measurements are available, and all useful information can be fused via a decentralised Federated Kalman filter. To evaluate the proposed system for seamless indoor-outdoor positioning, an indoor-outdoor test was conducted at a metal-clad warehouse. The test results confirmed that the proposed navigation system can provide continuous and reliable position and attitude solutions, with the positioning accuracy being better than five centimetres.


    Access

    Access via TIB

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Seamless Indoor-Outdoor Navigation based on GNSS, INS and Terrestrial Ranging Techniques



    Published in:

    Publication date :

    2017




    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English



    Classification :

    BKL:    55.86 Schiffsverkehr, Schifffahrt / 53.84 Ortungstechnik, Radartechnik / 42.89 Zoologie: Sonstiges / 55.54 Flugführung / 42.89 / 53.84 / 55.20 / 55.86 / 55.20 Straßenfahrzeugtechnik / 55.44 Schiffsführung / 55.54 / 55.44
    Local classification TIB:    275/5680/7035



    Indoor and outdoor seamless joint navigation method

    YAN CHUNBO / DING XINGHUA / LYU JINGBO et al. | European Patent Office | 2021

    Free access

    Loosely coupled GNSS and UWB with INS integration for indoor/outdoor pedestrian navigation

    Di Pietra V. / Dabove P. / Piras M. | BASE | 2020

    Free access


    GNSS-Based Seamless Airport Operations

    Pilley, H. R. / Pilley, L. V. / Air Traffic Control Association | British Library Conference Proceedings | 1994