Software Library Design for GNSS/INS Integrated Navigation Based on Multi-Sensor Information of Android Smartphone

다국어 초록 (Multilingual Abstract)

In this paper, we designed a software library that produces integrated Global Navigation Satellite System (GNSS) / Inertial Navigation System (INS) navigation information using the raw measurements provided by the GNSS chipset, gyroscope, accelerometer and magnetometer embedded in android smartphone. Loosely coupled integration method was used to derive information of GNSS /INS integrated navigation. An application built in the designed library was developed and installed on the android smartphone. And we conducted field experiments. GNSS navigation messages were collected in the Radio Technical Commission for Maritime Service (RTCM 3.0) format by the Network Transport of RTCM via Internet Protocol (NTRIP). As a result of experiments, it was confirmed that design requirements were satisfied by deriving navigation such as three-dimensional position and speed, course over ground (COG), speed over ground (SOG), heading and protection level (PL) using the designed library. In addition, the results of this experiment are expected to be applicable to maritime navigation applications using smart device.

참고문헌 (Reference)

1 서기열 ; 김영기 ; 전태형 ; 손표웅, "안드로이드 스마트폰의 이중 주파수 GNSS 의사거리 기반 해상 측위정확도 성능 분석" 한국정보통신학회 25 (25): 1588-1595, 2021

2 IMO, "World-Wide Radionavigation System, IMO Resolution A.953 (23)" International Maritime Organization

3 GSA, "Using GNSS Raw Measurements on Android Devices" European Global Navigation Satellite Systems Agency

4 Institute of Navigation, "Smartphone Decimeter Challenge"

5 IMO, "Revised Maritime Policy and Requirements for a Future Global Navigation Satellite System (GNSS), IMO Resolution A.915 (22)" International Maritime Organization

6 Groves, P. D, "Principles of GNSS, Inertial, and Multisensor Integrated Navigation Systems" Artech House Inc 2-, 2013

7 Robustelli, U., "Observation Quality Assessment and Performance of GNSS Standalone Positioning with Code Pseudoranges of Dual-Frequency Android Smartphones" 21 : 2125-, 2021

8 Campos-Vega, C. J., "Navigation through the Processing of Android Data with a High-Order Kalman Filter" 2957-2973, 2021

9 KMST, "Marine Accident Statistics Report 2021" Korea Maritime Safety Tribunal

10 Zangenehnejad, F, "GNSS smartphones positioning: advances, challenges, opportunities, and future perspectives" 2 : 24-, 2021

11 GSA, "GNSS User Technology Report Issue 3" European Global Navigation Satellite Systems Agency

12 GSA, "EUSPA EO and GNSS Market Report 2022 Issue 1" European Global Navigation Satellite Systems Agency

13 Szot, T., "Comparative analysis of positioning accuracy of Samsung Galaxy smartphones in stationary measurements" 14 : e0215562-, 2019

14 Li, G, "Characteristics of raw multi-GNSS measurement error from Google Android smart devices" 23 : 90-, 2019

15 "Android developer guide, Raw GNSS Measurements"

16 "Android developer guide, Raw GNSS Measurements"