Senso的r Fusion on TerraMax1.pptVIP

Sensor Fusion on TerraMax Dr. Zhiyu Xiang Andy Chien Prof. Umit Ozguner System Overview High Level Sensor System Overview Why Sensor Fusion? Sensors have different perceptive ability against environment; Sensors have different field of view; Even with the same type of sensors, we can: Enlarge the entire field of view by using more sensors; Accumulate the information acquired at different time to achieve better perception. GPS GPS Receiver and Antenna The Information available from GPS 1. Position in the Geodetic Coordinates (latitude, longitude, Altitude) 2. Rate information. (Horizontal Speed, orientation to the true north.) 3. The GPS Precise Time. GPS - Advantages Advantages: Satellite-based radio navigation system; Provide information to the users of GPS receivers worldwide in all weather conditions, free of charge; Reduces overall system costs by eliminating the need for a separate base station to obtain decimeter-level accuracy Protects against shock, water, and dust, extending the life of the receiver Virtually eliminates the effects of multipath using NovAtel’s patented Pulse Aperture Correlator? (PAC) tracking technology GPS - Features - Accepts OmniSTAR L-band differential corrections (subscription required) Shock, water, and dust resistant Three RS-232 serial ports capable of rates up to 230,400 bps Power and communication status LED indicators Field-upgradeable firmware INS System Dynamic Roll, Pitch Body to Earth Frame Angles 3-Axis Vehicle Body Rates 3-Axis Vehicle Body or Earth Accelerations INS - Features Fiber Optic Gyro Stability 20°/hr Fully Compensated Angular Rate and Linear Acceleration Outputs SAE (Earth Coordinate) Navigation Frame Automotive Compatible 10-30 VDC Input Supply Analog Digital Outputs One Example Application of INS Inertial systems are frequently used in actively stabilized platforms. Actively stabilized means that a series of motors and gimbals in conjunction with a inertial sensor work actively to h