深層学習支援による慣性デッドレコニングと融合
Deep Learning Assisted Inertial Dead Reckoning and Fusion
周期運動中のドローンや移動ロボットの慣性航法において、深層学習を用いて移動距離の変化を推定し、GNSSとの融合精度を向上させる手法を提案した論文。
著者: Dror Hurwitz, Nadav Cohen, Itzik Klein
分類: cs.RO
原文アブストラクト
The interest in mobile platforms across a variety of applications has increased significantly in recent years. One of the reasons is the ability to achieve accurate navigation by using low-cost sensors. To this end, inertial sensors are fused with global navigation satellite systems (GNSS) signals. GNSS outages during platform operation can result in pure inertial navigation, causing the navigation solution to drift. In such situations, periodic trajectories with dedicated algorithms were suggested to mitigate the drift. With periodic dynamics, inertial deep learning approaches can capture the motion more accurately and provide accurate dead-reckoning for drones and mobile robots. In this paper, we propose approaches to extend deep learning-assisted inertial sensing and fusion capabilities during periodic motion. We begin by demonstrating that fusion between GNSS and inertial sensors in periodic trajectories achieves better accuracy compared to straight-line trajectories. Next, we propose an empowered network architecture to accurately regress the change in distance of the platform. Utilizing this network, we drive a hybrid approach for a neural-inertial fusion filter. Finally, we utilize this approach for situations when GNSS is available and show its benefits. A dataset of 337 minutes of data collected from inertial sensors mounted on a mobile robot and a quadrotor is used to evaluate our approaches.
