Unscented Kalman filter for a low-cost GNSS/IMU-based mobile mapping application under demanding conditions

Mokhamad Nur Cahyadi; Tahiyatul Asfihani; Hendy Fitrian Suhandri; Risa Erfianti

doi:10.1016/j.geog.2023.05.001

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Unscented Kalman filter for a low-cost GNSS/IMU-based mobile mapping application under demanding conditions

Mokhamad Nur Cahyadi^{^a^,^b}(), Tahiyatul Asfihani^{^c}, Hendy Fitrian Suhandri^{^d}, Risa Erfianti^{^a}

Department of Geomatics Engineering, Institut Teknologi Sepuluh Nopember, Surabaya 60111, Indonesia

Research Center of Marine and Earth Science Technology, Directorate of Research and Community Service, Institut Teknologi Sepuluh Nopember, Surabaya 60111, Indonesia

Department of Mathematics, Institut Teknologi Sepuluh Nopember, Surabaya 60111, Indonesia

Centre of Studies for Surveying Science & Geomatics, Universiti Teknologi Mara (UiTM), Shah Alam 40450, Malaysia

Peer review under responsibility of Institute of Seismology, China Earthquake Administration.

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Abstract

For the last two decades, low-cost Global Navigation Satellite System (GNSS) receivers have been used in various applications. These receivers are mini-size, less expensive than geodetic-grade receivers, and in high demand. Irrespective of these outstanding features, low-cost GNSS receivers are potentially poorer hardwares with internal signal processing, resulting in lower quality. They typically come with low-cost GNSS antenna that has lower performance than their counterparts, particularly for multipath mitigation. Therefore, this research evaluated the low-cost GNSS device performance using a high-rate kinematic survey. For this purpose, these receivers were assembled with an Inertial Measurement Unit (IMU) sensor, which actively transmited data on acceleration and orientation rate during the observation. The position and navigation parameter data were obtained from the IMU readings, even without GNSS signals via the U-blox F9R GNSS/IMU device mounted on a vehicle. This research was conducted in an area with demanding conditions, such as an open sky area, an urban environment, and a shopping mall basement, to examine the device's performance. The data were processed by two approaches: the Single Point Positioning-IMU (SPP/IMU) and the Differential GNSS-IMU (DGNSS/IMU). The Unscented Kalman Filter (UKF) was selected as a filtering algorithm due to its excellent performance in handling nonlinear system models. The result showed that integrating GNSS/IMU in SPP processing mode could increase the accuracy in eastward and northward components up to 68.28% and 66.64%. Integration of DGNSS/IMU increased the accuracy in eastward and northward components to 93.02% and 93.03% compared to the positioning of standalone GNSS. In addition, the positioning accuracy can be improved by reducing the IMU noise using low-pass and high-pass filters. This application could still not gain the expected position accuracy under signal outage conditions.

Keywords

Low-cost GNSS GNSS/IMU Single Point Positioning-IMU (SPP/IMU)Differential GNSS-IMU (DGNSS/IMU)Unscented Kalman Filter (UKF)Outage conditions

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Geodesy and Geodynamics

Volume 15 Issue 2,
March 2024

Pages 166-176

DOI: 10.1016/j.geog.2023.05.001

Cite this article:

Cahyadi MN, Asfihani T, Suhandri HF, et al. Unscented Kalman filter for a low-cost GNSS/IMU-based mobile mapping application under demanding conditions. Geodesy and Geodynamics, 2024, 15(2): 166-176. https://doi.org/10.1016/j.geog.2023.05.001