1. MULTI-SENSOR OPTIMAL DATA FUSION
FOR INS/GPS/SAR INTEGRATED
NAVIGATION SYSTEM
NAME- SUNIL KUMAR MAHANTA
REGD.NO-2001109507
BRANCH-MECHANICAL ENGINEERING
SECTION-B
2. Topic to be discussed
Introduction to INS/GPS/SAR Integrated Navigation System
System Model
Data Fusion Methodology
Optimal Data Fusion Methodology
Experimental Analysis
Integration of INS, GPS, and SAR data
Benefits of Optimal Data Fusion in Navigation
Applications of INS/GPS/SAR Integrated Navigation System
Conclusion and Future Directions
3. Introduction to INS/GPS/SAR
Integrated Navigation System
1 What is INS?
The Inertial Navigation System
uses accelerometers and gyros to
measure changes in velocity and
orientation of the vehicle, which
are then integrated to determine
position.
2 What is GPS?
The Global Positioning System uses
satellite signals to determine accurate
position and velocity anywhere on
Earth.
3 What is SAR?
The Synthetic Aperture Radar
uses radio waves to create a
high-resolution image of the
ground or other objects.
4 Why integrate these systems?
The integration of these systems
combines the strengths of each,
resulting in a more accurate position
and velocity estimation than any
individual system can provide.
4. System Model
Inertial Navigation System
The INS provides accurate
measurement of the vehicle's
orientation and velocity.
Global Positioning System
The GPS provides satellite-
based measurement of the
vehicle's position.
Synthetic Aperture Radar
The SAR provides high-
resolution radar images of the
ground or other objects.
Integrated Navigation
System
The INS/GPS/SAR integrated
navigation system combines the
strengths of each system to
improve position and velocity
estimates.
5. Data Fusion Methodology
1
Measurement Level Fusion
Combining various sensor measurements
that are collected simultaneously to improve
the accuracy of the data.
2
Feature Level Fusion
Combining features extracted from sensor
measurements from different sensors to
create a more comprehensive dataset.
3
Decision Level Fusion
Combining the results of separate
algorithms applied to different sensor data
to create a consensus estimation.
6. Optimal Data Fusion Methodology
Data Preprocessing
Cleaning and standardizing raw data to
prepare it for fusion.
Model Selection
Selecting the most appropriate model for the
specific application.
Fusion Method Selection
Selecting the optimal fusion method to
combine the different sensor data.
Assessment and Tuning
Assessing and adjusting the fusion algorithm
to improve the accuracy of the data.
9. Integration of INS, GPS, and SAR data
Vehicle Position
GPS provides accurate
position data, which is
combined with INS data to
improve accuracy.
Vehicle Velocity
INS and SAR provide
accurate velocity
measurements that are
combined with GPS data to
improve accuracy.
Environmental Information
SAR provides high-resolution
radar images of the ground
that can be used to improve
navigation in challenging
environments.
10. Benefits of Optimal Data Fusion in
Navigation
1 Improved Accuracy
The combination of
different sensor data
results in more accurate
position and velocity
estimates.
2 Increased Robustness
Using multiple sensors
reduces the likelihood of
failure or malfunction of
any one sensor.
3 Better Environmental Awareness
Combining SAR data with INS and GPS data allows for better
navigation in challenging environments like urban canyons or
dense forests.
11. Applications of INS/GPS/SAR Integrated
Navigation System
Aerospace Industry
The use of INS/GPS/SAR
integrated navigation
systems is essential in
aerospace, particularly in
unmanned aerial vehicles
(UAVs) and missiles.
Maritime Navigation
INS/GPS/SAR integrated
navigation systems are used
in maritime applications,
such as navigation of ships
and submarines.
Automotive Industry
INS/GPS/SAR integrated
navigation systems are used
in driverless cars and other
autonomous vehicles.
12. Conclusion and Future
Directions
1 Conclusion
Optimal data fusion is essential for INS/GPS/SAR integrated
navigation systems to provide accurate and reliable navigation.
Integration of multiple sensors provides benefits to aerospace,
maritime, and automotive industries.
2 Future Directions
Research continues to improve the accuracy of INS/GPS/SAR
integrated navigation systems, and there are opportunities for
new applications in both government and commercial sectors.
