INS for K-BUB

Introduction

It is INS System for Autonomous Car.

Why We Call it INS?

• Basically, INS is for letting car know where am I. It seems to be enough to find the location without GPS. But Actually, It is not. GPS is affected by a lot of factors(weather, circumstance(In worst case, GPS may not get data if the environment surrouned by building,), electromagnetic...). These makes a lot of noise. It makes unstable movement of Autonomous Car. So We need to improve the stability and sustainabilty of Localization.
• In Localization, We use GPS and IMU together. that's what we call 'INS'

How It works?

In order to improve the performance of Localization, It stablizes the sensor data executing below tasks:

1. Using UKF to improve the precision of GPS data.
2. Measuring Moving distance using IMU.
3. Incorporate two datas(ususally we call it 'Sensor Fusion')
4. Returns accurate localization data.

Input and Output Summary

Input(Input's are connected by Serial.)

• GPS | NMEA Data
• IMU | (X,Y,Z) Euler Angle(We don't deal with Data correction from imu.)

Output

• Localization Data(lat, lon, heading)

Hardware

GPS | Ublox C94-M8P-2 (It supports any GPS in case your GPS qualifies NMEA protocol.) IMU | E2BOX AHRS EBIMU-9DOFV5

Changelog

* v1.0.2(Mar 17, 2022) | Another feature is preparing to deploy: GPS Map Overlay * v1.0.1(Mar 17, 2022) | New feature: now you see the realtime-imu data. * v1.0.0(Mar 14, 2022) | Created