7
votes
Open source implementations for GPS+IMU sensor fusion?
Yes. The px4 software for the pixhawk autopilot has an extended kalman filter that uses an accelerometer, a gyroscope, gps, and mag.
A paper describing the a smaller ekf which only estimates attitude ...
- 1,843
6
votes
Accepted
Kalman Filter GPS + IMU
This is a complete re-working of the answer I had originally provided. If you're curious, you can check the edit history and see what was posted earlier.
In comments to this question, OP stated that ...
- 15.9k
4
votes
Accepted
Integrating GPS into Graph SLAM (how orientation fixed?)
You can use a very low information matrix value at the orientation elements of your state, given that the information matrix is the inverse of the covariance matrix.
The covariance matrix ...
- 183
4
votes
Open source implementations for GPS+IMU sensor fusion?
ROS has a package called robot_localization that can be used to fuse IMU and GPS data. This package implements Extended and Unscented Kalman filter algorithms.
The package can be found here.
- 378
4
votes
Absolute positioning without GPS
I know this is an old question but I will just add a bit to the currently existing answers. First, this is a very complex problem that everyone is trying to tackle, including google with their Tango ...
- 81
4
votes
How to have a 'Auto Go Home' feature, like the DJI Phantom 3, on a project built quadcopter?
I would go with one of two-ish methods to do this, but both methods require the craft to know its own position. You could do this with GPS, or an IMU, or any other means or combination of position ...
- 15.9k
4
votes
Path following with precise positioning system (RTK)
Precise vehicle location is not a very useful piece of data in autonomous driving so I would not expect to see many products focusing on it.
Path planning and following for cars is a solved problem. ...
- 4,355
3
votes
imu position without GPS or camera
No, it is not possible to eliminate the cumulative position error caused by sensor noise and bias without using an additional sensor which can report any kind of position measurement.
Even the best ...
- 550
3
votes
Low-cost centimeter accurate satellite positioning (GNSS/GPS)
The NS-HP is a $50 RTK-capable GPS receiver providing centimeter-level accuracy:
NS-HP is a high performance GPS receiver capable of 2 / 4 / 5 / 8 / 10 / 20 / 25 / 40 / 50 Hz update rate. At 1Hz ...
- 31
3
votes
Overcorrecting Kalman Filter
There is an error in your posted equation for the Jacobian $F_J$, so that could be the source of the problem. It should look like this:
$F_J = \begin{bmatrix}
1 & 0 & -C \sin \theta \\
C \...
- 1,377
3
votes
Accepted
I fused a GPS and IMU and I am wondering if my results make sense
Do you have a simulation? I would recommend that you simulate the data first to debug and tune your KF. The simulation should model the true IMU outputs (Grove has some details on that) and true ...
- 46
3
votes
Navigation - GPS + IMU; how to make it more accurate?
You should use a Kalman Filter. Here are two nice tutorials that explain how Kalman Filter algorithm works and the working principle of IMU/GPS sensors.
short: https://www.navlab.net/Publications/...
- 367
3
votes
To calculate roll,pitch and yaw
The position coordinates x, y, z are inadequate information to compute the roll pitch and yaw.
x, y, and z are the position of the vehicle in space. roll, pitch, and yaw are the attitude or ...
- 24.5k
3
votes
How to deal with asynchronous samples in a kalman filter framework multi-sensor fusion?
The correct way of integrating multi-rate observations in a Kalman framework when the measurements are unavailable is to let the system evolve resorting merely to the prediction steps.
Therefore, set ...
- 3,995
2
votes
Solution for INS and GPS integration
I was in exactly the same boat with my master's thesis; wave-based imaging (sonar and radar) seemed so common that all the papers I read assumed you knew the fundamental concept and they were going to ...
- 15.9k
2
votes
Are there off the shelf solutions for GPS+INS (accelerometer,gyro,magneto) sensor fusion for getting filtered/fused location and speed output?
There are many GPS+INS fusion units available on the market. The price, weight and size of the units can vary dramatically depending on the GPS positioning accuracy and rate of drift from the INS. The ...
- 21
2
votes
Low-cost centimeter accurate satellite positioning (GNSS/GPS)
Ublox sell an RTK solution which provides 2cm accuracy. The evaluation kit is €359 and it works beautifully.
- 121
2
votes
Low-cost centimeter accurate satellite positioning (GNSS/GPS)
Reach RTK (USD$570) looks really good as it is, but what looks promising is that there is an IMU on board, which when integrated should enable less than 1cm error (std. dev.) once the INS has ...
- 892
2
votes
How to have a 'Auto Go Home' feature, like the DJI Phantom 3, on a project built quadcopter?
Primarily it will be GPS based. I have a Phantom 3 Pro and I have seen how the Go Home feature works. Before it returns to the x,y coordinates set as "home" it goes to a specific altitude. Presumably ...
- 1,047
2
votes
Open source implementations for GPS+IMU sensor fusion?
A followup on holmeski's reply.
It seems those pages have been taken down.
I found the old webpages on the 'Way Back Machine'.
Pixhawk Attitude Estimator (EKF)
Pixhawk ekf_att_pos_estimator (...
- 21
2
votes
imu position without GPS or camera
The answer to this question greatly depends on your acceptable error, and budget.
As the other two answers have stated, it is practically impossible to dead-reckon the position without directly ...
- 892
2
votes
Absolute positioning without GPS
Optical flow sensors (such as those used in computer mouses) are good for this situation. Most will give output in terms of translation.
Alternatively, you can just use a basic camera and run some ...
- 1,047
2
votes
imu position without GPS or camera
Of course, it is possible. You need to go for a sensor fusion algorithm, that could be Kalman Filter or Complementary Filter.
I personally found very useful the procedure described at the following ...
- 341
2
votes
All-in-one GNSS localization solution (hardware+software)
I have used both KVH CNS-5000 and the Xsens MTi-G-710 that do what you are asking. Both these products provide on-board sensor fusion. The CNS-5000 uses an EKF and I am not sure about the Xsens. They ...
- 121
2
votes
Differential GPS or Simple GPS for Robot navigation and odometry?
Do not give up on encoders. They are a great complement to GPS. I don't know what precision you want to reach, or what terrain your robot will operate in, but wherever it will be, encoders will give ...
- 953
2
votes
Accepted
Ardupilot on Raspberry Pi
Firstly, you may be confusing ArduPilot/ArduCopter software with the ArduPilot Mega (APM) hardware platform. ArduPilot/ArduCopter is indeed a great piece of software and is still maintained. The ...
- 1,416
2
votes
Kalman filter GPS + IMU fusion get accurate velocity with low cost sensors
I would say, this site may helps you to understand where the power of the Kalman-filter lies.
http://www.bzarg.com/p/how-a-kalman-filter-works-in-pictures/
In my humble opinion:
I think basic useful ...
2
votes
Accepted
How to build an autonomous navigation system for robots?
In order to implement the line following function you need to make several design choices which will affect your robot performance and accuracy.
Here are some examples:
GPS Coordinates: using a GPS ...
- 332
2
votes
Accepted
Robotic vessel navigation using GIS datasets
If I understand your question correctly, you are trying to estimate the position of arbitrary points in an environment given scattered 3D points. For example, your robot is at position (x, y, z) where ...
- 571
2
votes
Navigation - GPS + IMU; how to make it more accurate?
The simplest answer to all those questions, is to use an EKF. But since you are not familiar with the mathematical formulas of EKF here are some possible methods which might be useful for your ...
- 354
Only top scored, non community-wiki answers of a minimum length are eligible