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 ...
Chuck's user avatar
  • 16.1k
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 ...
Ricardo Achilles's user avatar
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/...
Octavius's user avatar
  • 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 ...
DaveC's user avatar
  • 46
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 ...
Tully's user avatar
  • 25k
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 ...
Ugo Pattacini's user avatar
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 (...
Awbmilne's user avatar
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.
smirkingman's user avatar
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 ...
Dominic Larkin's user avatar
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 ...
mactro's user avatar
  • 953
2 votes

Confused about time systems in ephemeris computation (from GPS subframes)

My understanding is that $R_x$ is the receiver time when the signal is received. So that would make $t_x$ the transmission time. And you subtract the bias to get a more accurate transmission time.
rielt12's user avatar
  • 191
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 ...
Greenonline's user avatar
  • 1,528
2 votes
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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 ...
Anelito's user avatar
  • 332
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 ...
Peter Devenyi's user avatar
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 ...
Tharindu Suraj's user avatar
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 ...
Malcolm's user avatar
  • 571
2 votes

A Delivery Drone

Most of the outdoor drones use GPS for autonomous navigation. Even the flight controllers like Ardupilot and Naza need to be given the GPS coordinates of the destination for autonomous flights. The ...
Tharindu Suraj's user avatar
2 votes

How does sensor fusion help in robot localization

I think another good place to jump right in is to examine the robot_localization package that is used in the ROS community. It implements both EKF and UKF sensor fusion estimators. The package is ...
JJB_UT's user avatar
  • 120
2 votes
Accepted

GPS Course vs IMU Course

So this probably won't work as course over ground and heading are often 2 different things. Heading is the direction your vehicle is facing, while course over ground is the direction your vehicle is ...
edwinem's user avatar
  • 1,861
2 votes

Conversion of roll, pitch and yaw from ENU to NED

ENU = East, North, Up NED = North, East, Down So, if you have x_ENU, y_ENU, and z_ENU, then: ...
Chuck's user avatar
  • 16.1k
2 votes

Guide Drone using GPS

There are two approaches here. First, keep in mind that even with a high number of satellites, pure GPS will always have some amount of imprecision and that amount is usually measured in meters. The ...
cst0's user avatar
  • 878
1 vote
Accepted

Integreation Method In Dr with 3 Sources

You should definitely use a filter. You need to adjust to the noises. If you can design or know the state space models of the agent and the sensors then KF is the easiest to use.
drerD's user avatar
  • 501
1 vote

Navigation - GPS + IMU; how to make it more accurate?

One way to improve GPS accuracy is RTK GPS. RTK GPS is what some of these robot lawnmowers use because of its centimeters accuracy. https://learn.sparkfun.com/tutorials/what-is-gps-rtk/all
Daniel's user avatar
  • 11
1 vote

How to accurately navigate from one GPS coordinate to another using just GPS & IMU?

GPS itself has about 3.5m of variance. To obtain a better accuracy it is usually fuse the measurements from the IMU with GPS using Kalman filters. The problem of navigation can be decompose into two ...
Tharindu Suraj's user avatar
1 vote

What are good options for modifying drones?

Seems like you're looking for a basic flight controller, for example, the PIXHAWK. It comes with onboard IMUs and GPS support, while being able to run two main types of firmware: PX4 and ArduCopter. ...
HighVoltage's user avatar
  • 1,096
1 vote

GPS/ 1GYRO - 2D + ACCEL+GPSEKF

Low cost accelerometers have a bias that varies with temperature and from startup to startup. Your model does not appear to have a state to simulate these accelerometer bias offsets. Note that in ...
mikeTronix's user avatar
1 vote

Differential GPS

Basically, you need the following: A target DGPS-capable unit A source DGPS unit A data link to carry the differential data from source to target and of course necessary software and cabling. You ...
Gürkan Çetin's user avatar
1 vote

Does multiple IMU increase accuracy

For a quadcopter, I would argue that the benefit of multiple imu's does not justify the effort. The bias issue you mentioned might be reduced but unless you can guarantee zero bias you still have to ...
ryan0270's user avatar
  • 2,804
1 vote

Does multiple IMU increase accuracy

Already from a probability point of view one can argue that the standard deviation of the mean drift goes down when stacking multiple IMU's together. However, things might also turn out nastier when ...
JJM Driessen's user avatar
1 vote

Does multiple IMU increase accuracy

Multiple IMU systems are used to make more accurate measurements. However, the main purpose of these systems is to take multiple measurements and make use of the differences between these measurements ...
acs's user avatar
  • 1,124

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