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FUSE+ positioning sensor fusion

Binding GNSS with and Inertial Navigation System (INS) and more 

GNSS_INS_by_Septentrio_for_agriculture_precision_ag_robot

FUSE+ uses sophisticated Kalman filtering techniques to combine high-performance multi-frequency GNSS receivers with a MEMs IMU and other inputs:

  • Improving availability of the positioning solution and use dead-reckoning 

  • Taking the system to a higher level of reliability with increased positioning stabilization

  • Providing orientation angles including heading, pitch and roll on a single GNSS antenna 

What is sensor fusion and how does it help me? 

In a sensor fusion system several sensors work together to achieve a higher degree of performance and capability, than is possible on a single sensor. In addition to the GNSS receiver other sensors can be appended to improve positioning availability and reliability. Since various sensors are based on different principles and use different inputs it becomes possible to overcome the weaknesses of each particular sensor.  

FUSE+ extended availability: GNSS receivers lose tracking when the sky is obstructed and they cannot “see” any GNSS satellites. If a receiver is fused with an IMU (Inertial Measurement Unit), which does not rely on external input, positioning availability can be extended. In challenging environments with extreme multipath, which cannot be fully compensated by APME+, positioning accuracy and availability can be improved with FUSE+.    

FUSE+ highest level of integrity:  Septentrio RAIM+ technology informs the system about receiver accuracy, by providing truthful uncertainty limits of the position. FUSE+ further enhances RAIM+ thanks to the addition of independent inputs, which can be used to cross-check receiver calculations.   

FUSE+ technology to deliver accurate GNSS positioning
Shows a comparison of two different GNSS sensor fusion systems. The orange line shows positioning of Septentrio AsteRx SBi3 receiver, which uses FUSE+ combined with APME+ to deliver accurate positioning even under challenging multipath condition
precision ag needs GNSS-INS receiver
FUSE+ combines GNSS, INS and other inputs to maximize positioning availability and integrity

Are all sensor fusion systems created equal?  

The benefits of GNSS sensor fusion are clear, but its full capabilities are unlocked with a deep insight of GNSS technology, which is the most complex sensor in this fusion system. Septentrio has been designing top-performance GNSS receivers for over 20 years, which is what enables us to create FUSE+ technology, ensuring that each sensor works in the most efficient manner. 

Sensor fusion for industrial environments
The most common sensors to be fused with GNSS are IMU and velocity vehicle velocity

Which sensors are most often combined with GNSS, in an industrial environment?  

IMU is the most used sensor in addition to the GNSS receiver. These sensors do not require any additional input and they are not affected by environmental conditions. However, there is an intrinsic vulnerability to shocks and vibrations.  

Vehicle velocity is also a commonly used input because this information is often already available to the control system. This enables the receiver to prolong positioning availability in GNSS denied areas and improves integrity with an additional independent input. FUSE+ does not rely on the raw input from odometry but leaves the user flexibility of obtaining vehicle velocity with any type of sensor (i.e. LiDAR, camera, etc.). The vehicle velocity feature is optional in FUSE+. 

Vehicle status

Using multiple sensors makes it possible to efficiently detect vehicle status without the need for external sensors. For example, the IMU can be used to smooth out the GNSS positioning noise and determine if the vehicle has come to a complete halt.