The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences
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Articles | Volume XLVI-3/W1-2022
Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci., XLVI-3/W1-2022, 81–87, 2022
https://doi.org/10.5194/isprs-archives-XLVI-3-W1-2022-81-2022
Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci., XLVI-3/W1-2022, 81–87, 2022
https://doi.org/10.5194/isprs-archives-XLVI-3-W1-2022-81-2022
 
22 Apr 2022
22 Apr 2022

VEHICLE POSITIONING IN UNDERGROUND SPACE USING A SMART PHONE

L. Li1, Q. Huang1, K. Xu1, G. Guo2, and R. Chen2 L. Li et al.
  • 1College of Aerospace Engineering, Chongqing University, China
  • 2State Key Laboratory of Information Engineering in Surveying, Mapping and Remote Sensing, Wuhan University, China

Keywords: Underground Navigation, INS, Bluetooth, Non-Holonomic Constraint (NHC)

Abstract. Smartphones is a good choice for vehicle navigation since many navigation sensors are built-in with low cost advantage. However, it cannot provide reliable positioning information in underground space since GNSS is not available and IMU drift quickly. In this manuscript, a mixed navigation scheme for smartphone consumer is presented. It combines GNSS, INS, Non-Holonomic Constraint (NHC) and Bluetooth Low Energy (BLE) to provide reliable seamless navigation in both outdoors and underground. Some important problems including smartphone boresight misalignment, HNC level arm, GNSS and BLE time lag are discussed in the manuscript. The testing results show 3.1% /D horizontal positioning error in tunnel in INS/NHC positioning mode, and approximately 1 meter accuracy in underground parking garage in INS/NHC/BLE mode.