TY - JOUR
T1 - A Novel Bluetooth-Odometer-Aided Smartphone-Based Vehicular Navigation in Satellite-Denied Environments
AU - Wen, Zeyang
AU - Yang, Gongliu
AU - Cai, Qingzhong
AU - Chen, Tianyu
N1 - Publisher Copyright:
© 1982-2012 IEEE.
PY - 2023/3/1
Y1 - 2023/3/1
N2 - 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-IμBOD 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.
AB - 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-IμBOD 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.
KW - Bluetooth odometer (BOD)
KW - extended Kalman filter (EKF)
KW - smartphone microelectromechanical system inertial measurement unit (MEMS-IMU)
UR - https://www.scopus.com/pages/publications/85129680610
U2 - 10.1109/TIE.2022.3169714
DO - 10.1109/TIE.2022.3169714
M3 - 文章
AN - SCOPUS:85129680610
SN - 0278-0046
VL - 70
SP - 3136
EP - 3146
JO - IEEE Transactions on Industrial Electronics
JF - IEEE Transactions on Industrial Electronics
IS - 3
ER -