Ultrasonic Wheel Based Aiding for Land Vehicle Navigation in GNSS Denied Environment

M. Moussa, A. Moussa, N. El-Sheimy

Peer Reviewed

Abstract:	Two new techniques for estimating the land vehicle forward velocity using ultrasonic sensor are proposed. These techniques do not require any apriori information of the wheel rim shape parameters as well as they can be applied on both symmetric and asymmetric wheel rim shape. Moreover, ultrasonic differential wheel odometry is proposed using the multiple rear sensors to estimate the land vehicle change of heading which is used as an additional information, besides the forward velocity from odometers, to aid low-cost Inertial Navigation System (INS) through Extended Kalman Filter (EKF) to bound its drift during GNSS signal outage. Two lowcost ultrasonic sensors are installed on the rear wheels of the land vehicle to measure the ranges to the solid and the void parts of the wheel rims to estimate the angular velocity through which the forward velocity is computed. The two proposed velocity estimation methods are dynamics-based and frequency-based methods. Experimental road tests have been employed and the results show that the Root Mean Square Error (RMSE) of the dynamic based and the frequency based ultrasonic forward velocity estimation are 0.34 m/sec and 0.54 m/sec respectively for the symmetric wheel rim while the RMSE reached around 0.6 m/sec for both methods for the asymmetric wheel rim. The RMSE of the ultrasonic differential wheel odometry change of heading reaches 3.3x10-2 rad/sec for 60 seconds during GNSS signal outage. The proposed velocity estimation techniques enhance the position states estimation with 92% as it provides the INS with a velocity update for 60 seconds of GNSS signal outage. Moreover, adding the change of heading update which is estimated from the proposed ultrasonic differential wheel odometry with the velocity updates, improves the navigation state estimation with percentage of 96% for 60 seconds GNSS signal outage.
Published in:	Proceedings of the 2019 International Technical Meeting of The Institute of Navigation January 28 - 31, 2019 Hyatt Regency Reston Reston, Virginia
Pages:	319 - 333
Cite this article:	Moussa, M., Moussa, A., El-Sheimy, N., "Ultrasonic Wheel Based Aiding for Land Vehicle Navigation in GNSS Denied Environment," Proceedings of the 2019 International Technical Meeting of The Institute of Navigation, Reston, Virginia, January 2019, pp. 319-333. https://doi.org/10.33012/2019.16695
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