Abuhadrous, Iyad (2005) Onboard real time system for 3D localization and modelling by multi-sensor data fusion. PhD thesis Informatique temps réel - Robotique - Automatique, Centre de Robotique, ENSMP.

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Abstract

This Ph.D. thesis tackles the problem of "precise localization" of a moving vehicle using multisensor based approach. Therefore we will address the integration and the processing of data issued from heterogeneous navigation systems: GPS and inertial navigation system and odometry. The reason for this integration is to exploit the advantages of each system used. Integration uses a numerical filtering to proceed to a compensation of the errors in position, velocity, and attitude of each sensor. Emphasize was not address only on the integration, but also on the concepts of precision of the results.

In the second time, we will be interested in the quantitative and qualitative validation of the results and the development of an application exploiting our work. The system errors are compared with a reference trajectory. In a qualitative validation, to illustrate the efficiency of the system and as a direct application of it; we have developed a 3D environment digitizing system. A 3D modelling system of urban scenes was developed together with a road modelling system. The system is based in the use of a single layer laser scanner for range data acquisition. A particular interest is related to the quality and the inaccuracies of the data returned by the scanner. Data scanning is performed "with the flight" and during the displacement of the vehicle. Finally, the last phase consists in exploiting the obtained model in two manners: the constitution of a precise geometrical and topological model then the extraction of semantic information of the model (extraction of the road or the fixed obstacles, the identifications of land-marks, the characterization of the road, etc.).

References

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Catalogues et notes techniques:

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[WOR 00] World Geodetic System 1984, National Imagery and Mapping Agency, USA, Technical Report 8350.2, 3rd Ed., 2000.

Publications de l'auteur :

[ABU 03a] I. Abuhadrous, F. Nashashibi, C. Laurgeau. "3-D Land Vehicle Localization: a Real-time Multi-Sensor Data Fusion Approach using RTMAPS". In Proc. of the 11th International Conference on Advanced Robotics. June 30th - July, 3rd , 2003, University of Coimbra, Portugal.

[ABU 03b] I. Abuhadrous, F. Nashashibi, C. Laurgeau, F. Goulette "Onboard Real-time System for Digitizing and Geo- referencing of 3D Urban Environments ". In Proc. of the 11th International Conference on Advanced Robotics. June 30th - July 3rd , 2003, University of Coimbra, Portugal.

[ABU 03c] I. ABUHADROUS, "Localisation absolue par fusion multi capteurs: GPS - Système Inertiel - Odométrie". Livrable de projet ARCOS. 15 Dec.2003.

[ABU 04] I. Abuhadrous, S. Ammoun, F. Nashashibi, F. Goulette, C. Laurgeau, "Digitizing and 3D Modeling of Urban Environments and Roads Using Vehicle-Borne Laser Scanner System". In the Proceeding of 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems. Sendai, Japan, 28 Sep. - 2 Oct., 2004.

[AMM 04] S. Ammoun, I. Abuhadrous, F. Nashashibi, C. Laurgeau, F. Goulette. "Modélisation 3D d'environnements urbains et routiers numérisés par télémétrie laser embarque". In the Proc. of the 9th International rendez-vous for 3D digitisation and modelling professionals. Paris, France, April 28-29, 2004.

Table of content

REMERCIEMENTS - 7

TABLE DES MATIÈRES - 9

TABLE DES FIGURES - 12

ACRONYMES - 15

RÉSUMÉ - 17

CHAPITRE 1 : INTRODUCTION - 19

1.1 Problématique et contexte de travail - 21

1.2 Présentation générale d'ARCOS - 26

1.3 Plan du Mémoire - 28

CHAPITRE 2 : LES DIFFÉRENTS SYSTÈMES DE POSITIONNEMENT - 31

2.1 Le positionnement par GPS - 33

2.1.1 Aperçu du système GPS - 33

2.1.1.1 Historique - 33

2.1.1.2 Description du système - 33

2.1.1.3 Potentiel d'utilisation - 35

2.1.2 Concepts de base - 35

2.1.2.1 Types d'observations GPS - 35

2.1.2.2 Géométrie du positionnement GPS - 37

2.1.2.3 Précision du positionnement GPS - 38

2.1.3 Le Système d'augmentation par satellites (SBAS) - 41

2.1.4 Le futur système Galileo - 42

2.1.5 Les avantages et les inconvénients du système GPS - 43

2.2 La navigation inertielle - 44

2.2.1 Principes - 45

2.2.2 Modèles d'erreurs dans les capteurs inertiels - 51

2.2.3 Les avantages et les inconvénients du système inertiel - 55

2.2.4 Equations de Navigation Inertielle et "Mécanisation" - 55

2.2.4.1 Estimation de l'orientation - 56

2.2.4.2 Estimation de la position - 57

2.2.4.3 L'équation dynamique de la vitesse - 57

2.2.4.4 La mécanisation - 59

2.3 L'odométrie et le modèle cinématique du véhicule - 62

2.3.1 Modèle du véhicule - 62

2.3.1.1 Modèle d'une voiture de type char - 62

2.3.1.2 Modèle d'un voiture de type tricycle (roues directrices) - 64

2.3.2 Les avantages et les inconvénients - 66

CHAPITRE 3 : NAVIGATION HYBRIDE - 69

3.1 Rappel sur le Filtre de Kalman - 71

3.2 Linéarisation des problèmes non linéaires - 75

3.2.1 Le Filtre de Kalman Linéarisé - 75

3.2.2 Le Filtre de Kalman Etendu - 78

3.2.3 Quelques aspects du filtre de Kalman étendu - 80

3.2.4 "Sigma-Point" ou "Unscented Kalman Filter" - 81

3.3 Les différentes approches d'hybridation - 86

3.3.1 Mode non-couplé - 87

3.3.2 Mode Faiblement "lâchement" Couplé - 87

3.3.3 Système fortement couplé - 89

3.4 Implémentation de la fusion INS/GPS - 91

3.4.1 Les équations du modèle d'évolution: INS seul - 91

3.4.2 Remarque sur l'alignement - 95

3.4.3 Les équations d'observation du GPS - 96

3.5 Intégration GPS/INS/Odométrie - 98

3.5.1 Intégration INS/Odométrie - 98

3.5.2 Filtrage décentralisé - 100

3.5.3 Mise au point pratique du filtre de KALMAN - 101

3.6 Synchronisation et temps de latence - 103

3.7 Opérations de calibration et d'initialisation - 105

3.7.1 Calibrage et placement des capteurs - 105

3.7.2 Alignement et initialisation - 105

3.7.3 Calibration - 106

3.8 Détermination de la consistance du filtre et détection des trajets multiples - 107

3.9 Réglage des paramètres du filtre - 108

CHAPITRE 4 : EXPÉRIMENTATIONS ET PREMIÈRES ÉVALUATIONS - 111

4.1 Environnement d'acquisition et exploita-tion des données - 113

4.2 Prétraitement - 114

4.2.1 Evaluation expérimentale des performances des récepteurs GPS - 114

4.2.2 Pré-filtrage et évaluation des données INS - 120

4.2.3 Evaluation des données odométriques - 125

4.3 Résultats expérimentaux des systèmes de navigation hybride développés - 125

4.3.1 Base de données et trajectoire de référence - 126

4.3.2 Intégration INS/GPS - 128

4.3.3 Mise en œuvre des essais sur piste - 138

4.3.4 Intégration INS/Odométrie - 143

4.3.5 Résultats obtenus pour l'orientation - 145

CHAPITRE 5 : LE GÉO-RÉFÉRENCEMENT ET SES APPLICATIONS À LA NUMÉRISATION ET LA MODÉLISATION 3D - 149

5.1 Introduction - 151

5.2 Configuration de Système - 154

5.3 Le Procédé de mesure (le processus de mesure) - 156

5.3.1 Les Erreurs - 157

5.4 Calibration - 157

5.5 Acquisition et traitement de données - 159

5.6 Résultats et discussion - 160

5.7 La segmentation - 162

5.7.1 La segmentation intra-profils - 162

5.7.2 Pré-labellisation - 163

5.7.3 La formation des objets 3D - 163

5.7.4 Labélisation - 163

5.8 La décimation - 164

5.8.1 Détection des bords de la route - 165

5.8.2 Modèles des objets - 165

5.9 Extraction des paramètres de la route - 166

5.9.1 La largeur de la route - 166

5.9.2 La courbure - 168

5.10 Conclusion et perspectives - 172

CHAPITRE 6 : CONCLUSION - 175

6.1 Conclusion Générale - 177

6.2 Validation et évaluation des résultats dans le cadre du projet ARCOS - 179

6.3 Applications envisageables et contribu-tions à la sécurité routière - 181

6.3.1 Amélioration du map-matching - 181

6.3.2 Signalétique embarquée - 181

6.3.3 Communication V2V - 182

6.3.4 Détection de changement de voie - 182

6.3.5 Gestion du trafic - 182

6.4 Amélioration et Perspectives techniques - 182

RÉFÉRENCES BIBLIOGRAPHIQUES - 185

LES ANNEXES - 193

ANNEXE A: Les systèmes de référence et de coordonnées - 195

ANNEXE B: Probabilité et variables aléatoires - 207

ANNEXE C: Linéarisation par différenciation - 215

ANNEXE D: Instrumentation (Environnements matériel et logiciel) - 221

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