ArticleMicromachines2018
Motion Constraints and Vanishing Point Aided Land Vehicle Navigation.
Article in Micromachines, 2018. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 5 papers.
What it found
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The abstract states no effect estimate the extractor could read, or names no intervention and outcome on the map, so this paper lights no cell and moves no belief. It is still indexed, cited and linked below.
The trial behind it
Trials whose registry record cites this paper, or whose number appears in the abstract. A trial that started after this paper was published is citing it as background, not reporting it.
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Who cites it
5 citing papers in PubMed, 21 citations in OpenAlex.
- Development and Application of a High-Precision Portable Digital Compass System for Improving Combined Navigation Performance.Sensors (Basel, Switzerland) · 2024Article
- Smartphone MEMS Accelerometer and Gyroscope Measurement Errors: Laboratory Testing and Analysis of the Effects on Positioning Performance.Sensors (Basel, Switzerland) · 2023Article
- Optical and Mass Flow Sensors for Aiding Vehicle Navigation in GNSS Denied Environment.Sensors (Basel, Switzerland) · 2020Article
- Research on In-Flight Alignment for Micro Inertial Navigation System Based on Changing Acceleration using Exponential Function.Micromachines · 2018Article
- A Novel Fault-Tolerant Navigation and Positioning Method with Stereo-Camera/Micro Electro Mechanical Systems Inertial Measurement Unit (MEMS-IMU) in Hostile Environment.Micromachines · 2018Article
Corrections and comments
PubMed lists nothing against this paper. Absence here is not a guarantee, only a check that was made.
Authors and funding
4 authors at 2 institutions in 2 countries.
Funding
No grant is acknowledged in the PubMed record.
Abstract
In the typical Inertial Navigation System (INS)/ Global Navigation Satellite System (GNSS) setup for ground vehicle navigation, measures should be taken to maintain the performance when there are GNSS signal outages. Usually, aiding sensors are utilized to reduce the INS drift. A full motion constraint model is developed allowing the online calibration of INS frame with respect to (w.r.t) the motion frame. To obtain better heading and lateral positioning performance, we propose to use of vanishing point (VP) observations of parallel lane markings from a single forward-looking camera to aid the INS. In the VP module, the relative attitude of the camera w.r.t the road frame is derived from the VP coordinates. The state-space model is developed with augmented vertical attitude error state. Finally, the VP module is added to a modified motion constrains module in the Extended Kalman filter (EKF) framework. Simulations and real-world experiments have shown the validity of VP-based method and improved heading and cross-track position accuracy compared with the solution without VP. The proposed method can work jointly with conventional visual odometry to aid INS for better accuracy and robustness.
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Registered trials
Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the OpenQuestion graph.