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Low Cost Multisensor Kinematic Positioning and Navigation System with Linux/RTAI
Department of Earth and Space Science and Engineering, York University, Toronto, ON M3J 1P3, Canada
* Author to whom correspondence should be addressed.
Received: 17 July 2012; in revised form: 28 August 2012 / Accepted: 9 September 2012 / Published: 28 September 2012
Abstract: Despite its popularity, the development of an embedded real-time multisensor kinematic positioning and navigation system discourages many researchers and developers due to its complicated hardware environment setup and time consuming device driver development. To address these issues, this paper proposed a multisensor kinematic positioning and navigation system built on Linux with Real Time Application Interface (RTAI), which can be constructed in a fast and economical manner upon popular hardware platforms. The authors designed, developed, evaluated and validated the application of Linux/RTAI in the proposed system for the integration of the low cost MEMS IMU and OEM GPS sensors. The developed system with Linux/RTAI as the core of a direct geo-referencing system provides not only an excellent hard real-time performance but also the conveniences for sensor hardware integration and real-time software development. A software framework is proposed in this paper for a universal kinematic positioning and navigation system with loosely-coupled integration architecture. In addition, general strategies of sensor time synchronization in a multisensor system are also discussed. The success of the loosely-coupled GPS-aided inertial navigation Kalman filter is represented via post-processed solutions from road tests.
Keywords: embedded; Global Position System (GPS); Inertial Navigation System (INS); Inertial Measurement Unit (IMU); multisensor integrated navigation; real-time; Linux; RTAI; LXRT; time synchronization
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Qian, K.Q.; Wang, J.; Gopaul, N.S.; Hu, B. Low Cost Multisensor Kinematic Positioning and Navigation System with Linux/RTAI. J. Sens. Actuator Netw. 2012, 1, 166-182.
Qian KQ, Wang J, Gopaul NS, Hu B. Low Cost Multisensor Kinematic Positioning and Navigation System with Linux/RTAI. Journal of Sensor and Actuator Networks. 2012; 1(3):166-182.
Qian, Kun Qian; Wang, Jianguo; Gopaul, Nilesh S.; Hu, Baoxin. 2012. "Low Cost Multisensor Kinematic Positioning and Navigation System with Linux/RTAI." J. Sens. Actuator Netw. 1, no. 3: 166-182.