Kayak-specific Motion Constraints for an Improved Android Smartphone GPS/INS Navigation Solution

Harke, Kelly

Kayak-specific Motion Constraints for an Improved Android Smartphone GPS/INS Navigation Solution

dc.contributor.advisor	O'Keefe, Kyle
dc.contributor.author	Harke, Kelly
dc.contributor.committeemember	Bayat, Sayeh
dc.contributor.committeemember	Gao, Yang
dc.date	2022-11
dc.date.accessioned	2022-08-31T15:55:29Z
dc.date.available	2022-08-31T15:55:29Z
dc.date.issued	2022-08
dc.description.abstract	In this thesis, a Global Positioning System (GPS) / inertial navigation system (INS) smartphone navigation solution to track a kayak accurately and continuously down a river is developed, implemented, and tested. A Google Pixel 4 was used to log raw GPS, accelerometer, and gyroscope measurements. Four field datasets were collected with commercial grade GNSS receivers for a reference solution and the smartphone fixed to the deck of a kayak. Traditional closed loop loosely and tightly coupled GPS/INS algorithms were compared. Both implementations were found to perform similarly with complete satellite coverage and both degraded rapidly in the event of a GPS outage. GPS signal outages may frequently occur on a river due to vegetation, canyon walls, and water splashing over the receiver and the solution becomes reliant on the INS alone. Low-cost inertial sensors, such as those found in a smartphone, were incapable of providing an accurate solution for a long period of time during GPS outages due to the accumulation of sensor errors. To minimize this INS error, the motion of a kayak was analyzed and constraints exclusive to kayaking were proposed to improve the solution. These kayak-specific motion constraints estimated the gyroscope bias, pitch and roll angles, and accelerometer bias based on the assumption that the kayak’s pitch and roll angles are centered around zero, cyclic in nature, and return to the same orientation at regular time intervals. These motion constraints were applied to the collected datasets in a loosely coupled filter to verify this solution. The velocity and position errors during a GPS outage were improved with motion constraints as opposed to a traditional filter without motion constraints. After a simulated 20 second GPS outage on one dataset, the horizontal and vertical errors improved from 31.077 to 12.538 metres and 8.874 to 1.342 metres respectively with the motion constraints applied. This improvement was verified with three additional datasets. Therefore, the proposed kayak-specific motion constraints were found to improve the GPS/INS navigation solution, particularly during a GPS outage.	en_US
dc.identifier.citation	Harke, K. (2022). Kayak-specific motion constraints for an improved Android smartphone GPS/INS navigation solution (Master's thesis, University of Calgary, Calgary, Canada). Retrieved from https://prism.ucalgary.ca.	en_US
dc.identifier.uri	http://hdl.handle.net/1880/115141
dc.identifier.uri	https://dx.doi.org/10.11575/PRISM/40175
dc.language.iso	eng	en_US
dc.publisher.faculty	Schulich School of Engineering	en_US
dc.publisher.institution	University of Calgary	en
dc.rights	University of Calgary graduate students retain copyright ownership and moral rights for their thesis. You may use this material in any way that is permitted by the Copyright Act or through licensing that has been assigned to the document. For uses that are not allowable under copyright legislation or licensing, you are required to seek permission.	en_US
dc.subject	Smartphone positioning, GPS, inertial navigation, GPS/INS, motion constraints, kayaking	en_US
dc.subject.classification	Education--Technology	en_US
dc.subject.classification	Engineering	en_US
dc.subject.classification	Engineering--Electronics and Electrical	en_US
dc.title	Kayak-specific Motion Constraints for an Improved Android Smartphone GPS/INS Navigation Solution	en_US
dc.type	master thesis	en_US
thesis.degree.discipline	Engineering – Geomatics	en_US
thesis.degree.grantor	University of Calgary	en_US
thesis.degree.name	Master of Science (MSc)	en_US
ucalgary.item.requestcopy	true	en_US