A Novel Bluetooth-Odometer-Aided Smartphone-Based Vehicular Navigation in Satellite-Denied Environments

被引：14
|
作者：
Wen, Zeyang [1 ]
Yang, Gongliu [1 ]
Cai, Qingzhong [1 ]
Chen, Tianyu [1 ]
机构：
[1] Beihang Univ, Sch Instrument Sci & Optoelect Engn, Beijing 100191, Peoples R China
来源：
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS | 2023年 / 70卷 / 03期
基金：
中国国家自然科学基金;
关键词：
Bluetooth odometer (BOD); extended Kalman filter (EKF); smartphone microelectromechanical system inertial measurement unit (MEMS-IMU); SYSTEM; CALIBRATION; TIME;
D O I：
10.1109/TIE.2022.3169714
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This article investigates a novel Bluetooth odometer (BOD)-aided smartphone-based vehicular navigation system for satellite-denied environments. First, a wheel-mounted BOD is designed to measure rotational speed and send data to smartphones by Bluetooth transmission. Second, a nonlinear smartphone-based microelectromechanical system (MEMS) inertial measurement unit (IMU)/BOD error model is derived to solve the problem of azimuth divergence. Then, a position delay time model is proposed to compensate for the delay time of Bluetooth transmission. An Android app is developed to receive the BOD data from Bluetooth transmission, and the proposed BOD smartphone-based vehicular navigation algorithm provides positioning information in real time. In field tests, positioning accuracy reaches 0.38%D by using the proposed MEMS-IMU/BOD model. The designed scheme can be used as a low-cost and convenient solution for smartphone-based civilian vehicular autonomous navigation systems without changing the habits of drivers.
引用
收藏
页码：3136 / 3146
页数：11
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