ISPRS-Archives

The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences

ISPRS-Archives

Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci.

2194-9034

Copernicus Publications

Göttingen, Germany

10.5194/isprs-archives-XLVI-3-W1-2022-81-2022

VEHICLE POSITIONING IN UNDERGROUND SPACE USING A SMART PHONE

¹ Huang

¹ Xu

¹ Guo

² Chen

College of Aerospace Engineering, Chongqing University, China

State Key Laboratory of Information Engineering in Surveying, Mapping and Remote Sensing, Wuhan University, China

22 04 2022

XLVI-3/W1-2022 81 87

2022

This work is licensed under the Creative Commons Attribution 4.0 International License. To view a copy of this licence, visit https://creativecommons.org/licenses/by/4.0/

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Smartphones is a good choice for vehicle navigation since many navigation sensors are built-in with low cost advantage. However, it cannot provide reliable positioning information in underground space since GNSS is not available and IMU drift quickly. In this manuscript, a mixed navigation scheme for smartphone consumer is presented. It combines GNSS, INS, Non-Holonomic Constraint (NHC) and Bluetooth Low Energy (BLE) to provide reliable seamless navigation in both outdoors and underground. Some important problems including smartphone boresight misalignment, HNC level arm, GNSS and BLE time lag are discussed in the manuscript. The testing results show 3.1% /D horizontal positioning error in tunnel in INS/NHC positioning mode, and approximately 1 meter accuracy in underground parking garage in INS/NHC/BLE mode.