1. Ubiquitous Navigation
James Pinchin

2. Overview Introduction Ubiquitous Navigation Inertial Navigation
Initialisation & Drift Correction for Inertial Navigation

3. Positioning Technologiesk
Remote
Rural
Suburban
Urban
Indoor
GPS
AGPS
SBAS (GPS)
LAD GPS
RTK
GPS
PPP
HS GPS
SA GPS
Cell Phone
Network /
DAB /
DVB
Infrastructure
UWB
RFID
Bluetooth
WLAN
Accuracy (m)

4. Inertial Navigation System (INS)
Stand alone
No infrastructure needed
“Cheap”
$10 – $100k
Sensors exist and are widely available

5. Inertial Navigation System (INS)
Measure Acceleration
Integrate to Obtain Velocity
Integrate to Obtain Change in Position
Measure Rotation Rate
Integrate to Obtain Change in Attitude

6. INS - Problems Initialisation Position Orientation Sensor Biases
Error Propagation
Initialisation Biases
Sensor Biases / Noise

7. INS - Problems

8. INS - Augmentation Velocity Aiding Eg. ZUPTs
Constrains drift in INS position estimate & allows IMU sensor biases to be estimated
ZUPTs allow low cost IMUs to be used for high accuracy navigation

9. Pedestrian INS Foot Mounted IMU ZUPT every ~0.4 second
Lasts around half of a step

10. Final Position Error (~75m)
Pedestrian INS
Heading Error in Shop
Final Position Error (~75m)

11. CHAIN

12. GPS Integration - RTK Problems Remain Initialisation
Position Drift Correction

13. The High Accuracy Testbed

14. GPS Integration - RTK

15. GPS Integration - HSGPS

16. GPS Integration - HSGPS

17. GPS Integration – HSGPS - Tight

18. GPS Integration – HSGPS - Tight

19. Inertial Navigation - Initialisation
A position can be refined interactively by using using a phone’s location capabilities (GPS, Wi-Fi, compass, etc), allowing the user to describe their position to a higher level of precision.

20. Inertial Navigation - Initialisation
A structured data representation of the area, allows meaningful landmarks or features to be identified and a dialog to be generated to interactively refine the user’s precise location.

21. Inertial Navigation - Initialisation
Additional detailed sources can be iteratively added as the location becomes more precise. For instance the dialog may determine that the user is indoors and supplement the data with floor plans.

22. Future Work Further Development & Testing of ‘Tight’ GPS Integration
Android Implementation of Inertial / CHAIN solution
Map / Local Area Model Aiding

23.
Questions?