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Development of GNSS/INS/SLAM Algorithms for Navigation in Constrained Environments

Abstract : For land vehicles, the requirements of the navigation solution in terms of accuracy, integrity, continuity and availability are more and more stringent, especially with the development of autonomous vehicles. This type of application requires a navigation system not only capable of providing an accurate and reliable position, velocity and attitude solution continuously but also having a reasonable cost. In the last decades, GNSS has been the most widely used navigation system especially with the receivers decreasing cost over the years. However, despite of its capability to provide absolute navigation information, this system suffers from problems related to signal propagation especially in urban environments where buildings, trees and other structures hinder the reception of GNSS signals and degrade their quality. A possible way to overcome these problems is to fuse good GNSS measurements with other sensors having complementary characteristics. Generally, the most widely implemented hybridization algorithms for land vehicles fuse GNSS measurements with inertial and/or odometric data. However, the performance achieved by this hybridization depends thoroughly on the quality of the inertial/odometric sensor used especially when GNSS signals are degraded or unavailable. Therefore, this Ph.D. thesis, aims at extending the classical hybridization architecture by including other sensors capable of improving the navigation performances while having a low cost and being easily embeddable. For this reason, the use of vision-based navigation techniques to provide additional information is proposed in this thesis. In particular, the SLAM technique is investigated. Therefore, this work focuses on developing a multi-sensor fusion architecture integrating visual information with the previously mentioned sensors. In particular, the study of the contribution of this information to improve the visionfree navigation system performance is perfomrmed.
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Submitted on : Tuesday, January 29, 2019 - 3:09:20 PM
Last modification on : Wednesday, November 3, 2021 - 4:50:44 AM
Long-term archiving on: : Tuesday, April 30, 2019 - 5:17:59 PM


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  • HAL Id : tel-01998258, version 1



Amani Ben Afia. Development of GNSS/INS/SLAM Algorithms for Navigation in Constrained Environments. Signal and Image processing. INPT, 2017. English. ⟨tel-01998258⟩



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