DESIGN OF A GPS/INS EMBEDDED SYSTEM FOR VEHICLE TRACKING AND REMOTE CONTROLLING

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2 Νοε 2013 (πριν από 4 χρόνια και 1 μήνα)

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DESIGN OF A GPS/INS

EMBEDDED SYSTEM

FOR VEHICLE TRACKING AND
REMOTE CONTROLLING


Huy
-
Tien

Bui
1
,

Thanh
-
Trung

Duong
2
, Ngoc
-
Tan Bui Thi
3
, Tsung
-
Fu Chien
4

1
PhD student, D
epartment of
Mechanical Engineering
, National
Cheng Kung

University

No.1, University Rd
.
, Tainan City 701
01
, Taiwan;

E
-
mail:

huytien_bk@yahoo.com


2
PhD student, D
epartment of
Geomatics
, National
Cheng Kung

University


No.1, University Rd., Tainan City 70101, Ta
iwan;

E
-
mail: duong_trung2004@yahoo.com


3
Master student, D
epartment of
Geomatics
, National
Cheng Kung

University


No.1, University Rd., Tainan City 70101, Ta
iwan;

E
-
mail:
ngoctankhtn@gmail.com


4
Professor, Department

of Electrical Engineering, Southern Taiwan University of Science and Technology

No. 1, Nan
-
Tai Street, Yungkang Dist
., Tainan City 710, Taiwan;

E
-
mail: jeng12@mail.ncku.edu.tw



KEY WORDS:

Remote control,
Remote monitor,
Wi
-
Fi,

GPS
, INS
.



ABSTRACT:
Safety for vehicles during movement and emergency response is necessary for most vehicle owners.
Information about vehicle technique parameters, position, and orientation during operating is also useful for owners
and managers. Therefore, this article

deve
lops an INS/GPS/Wi
-
Fi

embedded system for vehicle tracking, remote
controlling and remote monitoring. The main purpose of the integrated system is to on
-
line monitor the position and
orientation of the vehicle from a control station.

Some functions of vehi
cles are able to be remotely activated in cases
of emergency.


1. INTRODUCTION


In recently, most vehicles

have been
mount
ed

a
global
positioning system (GPS) device
to track the position of the
vehicles on the road
. Some companies used GPS devices in
order to manage the vehicle in t ransport
. In the most these
systems,
informat ion of position was send to station base center via general packet radio service (GPRS) network

under short message service (SMS)

(Dinkar and Shaikh, 2011)
, (Bilgic and Alkar, 201
1)
.

Another application of GPS
was used in a secure tracking system
. The current location was sent to web server through GPRS
.

Basically,
operation
of this

system like
s

sending a message between two
GPS embedded
-
mobile phone
s
.

One of them

was embedded in

s
ystem need to secure

as shown in Figure 1.



Figure 1.
The structure of a secure tracking system using GPRS (Bilgic and Alkar, 2011).


The system was composed of a mobile phone attached to secure tracking system and web interface designed on
personal co
mputer (PC) or s mart phone to monitor the track maps or current locations of secure
-
needed system. The
users can set boundaries of locations being tracked so that an alert may be activated if a boundary vio
lation has been
detected and owner can send short
message service (SMS) to switch off the vehicle

(Montaser et al., 2012).



The remote tracking and monitoring are two important problems widely used in life, transport, army and medical
. In
this paper, en embedded system is proposed to identify and monitor

a vehicle location in transport line with real t ime
.
The vehicle location informat ion is remotely managed and controlled to turn off the vehicle power supply via
Wi
-
Fi
/GSM modules. The GPS module provided the current vehicle location is sent from moving p
art which is
installed in the vehicle, to personal computer (PC) or s mart phone devices via Wi
-
Fi signal for short distance about
1
-
2 Km up to 50 Km and via GSM signal for long distance. A simple sensor is used to sense the safety state of vehicle.
When th
e vehicle is in emergency, stolen for example, the signal from sensor will be coded then sent immediately to
PC or s mart phone devices for informing vehicle owner. Vehicle owner can then use that PC or smart phone device to
track the vehicle location, whic
h current road address the vehicle at, and control back to the vehicle for turning off the
vehicle power supply or given alarm to theft
. A graphic user interface (GUI) was developed based on visual studio C#

to manage the vehicle location and control feed
-
back to vehicle. A diagram of proposed embedded system used in this
research was shown in Figure 2.



Figure 2. A proposed embedded system used for tracking and remote controlling the vehicle


2. EXPERIMENT WORKS


A proposed embedded system composed of

two main parts; a control base station and a moving station. In the moving
station, an integrated system (modules) including Inertial Navigation System (INS) and Global Positioning System
(GPS) was attached on the vehicle to provide informat ion about posi
tion and orientation of the vehicle. These
modules were connected to a microcontroller unit


ATmega 2560 for processing and then transmitting signal to
control base station via Wi
-
Fi/GPS modules. In the control base station, a PC or smart phone devices we
re used to
receive the signal from the moving station.


For experiment works, an integrated system was setup. In the moving station, a low cost inert ial navigation system
(INS)
-
MPU
-
6050 of 6 dimensions: three accelerometers
and three gyroscopes, a GPS rece
iver module, a
microcontroller
-
ATmega 2560
,

a Wi
-
Fi module and a camera module were attached for collecting, decoding and
transmitting data to the control station
. In the control base station, a PC was used to receive and analyze the data
transmitted from
the moving station.

Components used in this paper were shown in Figure 3.













GPS
GS
-
91
module

Microcontroller
-
ATmega 2560





INS module
-
MPU
-
6050

Wi
-
Fi module
-
RM04





Mobile phone
-
embedded Camera

A propos ed embedded s ys tem
-
moving part


Figure 3. Components us ed in res earch


The GPS and IMU data read and proces s ed by mic rocontroller was s ent to PC and Android environment
operation
-
bas ed s mart phone
via Wi
-
Fi module or GSM/3G module
for pos t
-
process ing

as shown in Figure 4
.

Algorith m of e xtended Ka lman filter
will then us ed for

the obtained GPS and IMU data to get more accurate
location.


Figure 4.
Structure of main unit of embedded s ys tem us ed in res earch

Power supply

-

battery used in vehicle is 12 voltages, but that is

5 voltages in microcontroller unit.
A component
named relay that transfers electrical signal between microcontroller unit and vehicle switching circuit was therefore
used.

The microcontroller received comment from PC or s mart phone by owner can send a sig
nal to the relay to cut
off the vehicle power supply.

The microcontroller processes the GPS and IMU data and transmits it to the user via
Wi
-
fi or GSM module
. A visual studio C# interface on PC and Android environment interface on smart phone was
programme
d to process GPS and IMU data. The location informat ion data of vehicle was saved as a text file. To
transfer this information to Google Earth, the text file was converted to Keyhole Markup Language (KML) format.
Google Earth interprets KML file and shows
vehicle’s location on the map.

Figure 5 shows the external view of
hardware implementation. The system was designed to be powered by the vehicle 12 voltages of battery via 7805
IC.


Figure 5. Hardware implementation of proposed embedded system


3.

IMU AND

GPS
INTEGRATION OVERVIEW


IMU and GPS are integrated in the processing engine to derive the navigation solution of the system.
L
oosely
-
coupled (LC) integration scheme

is applied in this research due to its
simplicity.
Extended Kalman filter
(EKF) is employed as the main estimator for data fusion. The integrated architecture is shown in Figure 6.
The raw
data

provided by IMU

is firstly decoded to obtain

angular rate
and
specific force, those measurements

are
then
process
ed by an INS mechanizat ion for a navigation solution in
a
local
-
level frame
.

The GPS
receiver provides
position

and velocities in the local level frame
(latitude, longitude and ellipsoid height)
and then send the solutions as
measurement update to the

EKF.

By comparing the navigation solutions provided by INS mechanization with those
solutions provided by GPS processing engine, those navigation states can be optimally estimated
.



Figure 6. General loosely
-
coupled (LC) IMU/GPS integration schematic


For
EKF, system and measurement models are firstly established based on
(
Titterton and Weston, 2004
)
. W
ith a high
sampling rate and seamless output, the INS is used to form system model. GPS measurements are used to build
measurement models.


The system model
is derived based on error model of a strap
-
down inertial

navigation system in a navigation frame.
“Psi” model is chosen to apply in the INS/GPS integrated system due to its advantages of simpler attitude error
dynamic equation. The detail of derivation can

be seen in
(
Titterton and Weston, 2004
)
.
The

discrete
-
time form

used
for EKF is formed as:



(1
)

where



[

















]





is state vector,







is the state transition matrix from epoch
k − 1

to
k
,
w
k

is system noise.



4
. RESULTS AND DISCUSSION


A GUI was developed o
n PC based on visual
studio C#
to connect to moving part

then obtain locations of vehicle
such as longitude, latitude

for post pr
ocessing
. The obtained location

was embedded in Google map

to see current
address which vehicle is

at
. PC
was
connected to moving part via Wi
-
Fi module

through IP address and Port number
.

Objects of this paper include three parts. First is to get current
location of vehicle then see that location on Google
map, second is to turn off the power supply of vehicle when vehicle is in emergency
. Finally, a camera was embedded
in moving part
. In GUI interface o
n PC, user can see the current situation where vehicl
e is in real
-
time
.


4
.1 Obtaining current location of vehicle and embedding the location in Google map


A GUI interface developed

based on Visual studio C# environment

o
n PC

and Android environment o
n smart phone

to read GPS receiver’s data from moving par
t through W
i
-
Fi module is shown in Figure 7
.

IP
address
-
“192.168.16.254”

and Port number
-
‘9999”

of local wireless was generated and set configuration by Wi
-
Fi
module
-
RM04
. PC will use this IP and Port to connect to moving part
. The obtained location of ve
h
icle was
embedded in Google Earth

to see the current address which vehicle is in
.




a)

An i
nterface on PC

b)

An i
nterface on smart phone

Figure 7. A GUI interface used to obtain current location of vehicle




Figure 8.
Google Earth showing the location
of the vehicle


Google Earth was used for t racking and viewing the state of the vehicle. The received data was processed and saved in
text file by a Visual studio C# program. This text file was exported to a KML file that is compatible with Google Earth
s
oftware. Hence, Google Earth will show the location of the vehicle on the map as shown in Figure 8.


4
.2 Remote controlling turn off power supply of vehicle when in emergency


A LED was used to indicate the state of vehicle in emergency.
In emergency, user

can send a command to moving
part in order to turn off the power supply of vehicle
. The operati
on of this was shown in Figure 9 with PC and in
Figure 10

with smart phone
.






GUI interface

Moving part

GUI interface

Moving part

a)

In safe status
-
LED
CLOSED

b)

In emergency status
-
LED OPENED

Figure
9
. Remote turning off power supply of vehicle when in emergency

by

PC



a)

In safe state
-
LED CLOSED


b)

In emergency state
-
LED OPENED

Figure 10
. Remote turning off power supply of vehicle when in emergency by
smart phone


4
.3 Remote monitoring vehicle in real
-
time


User can not only see current location of vehicle on Google map, user can also see the Webcam that embedded in
moving part. In this paper, this function was developed to see current locati
on of vehi
cle under Web
-
camera as show
in Figure
11
.


Figure 11
. Camera function embedded in system for monitoring in real
-
time


5
. CONCLUSIONS


In this paper, a low
-
cost vehicle tracking and monitoring embedded system including GPS/INS/Wi
-
Fi and camera
modules
was proposed
. The current location of vehicle was not only embedded in Google map but also monitored in
real
-
t ime via camera attached in moving part.
With a GUI interface developed o
n PC based on visual studio C#

and
Android on smart phone
, user can easily

view the current location and status of vehicle in real time or
analyze the data
for post processin
g

and cut off power supply of the vehicle when in emergency
.


References


Bilgic, H.T., and Alkar, A.Z., 2011. A Secure Tracking System for GPS
-
Enabled Mobi
le Phones. Proceedings of
the 5
th

International Conference on IT&Multimedia at UNITEN, Malaysia,

Dinkar, A.S.,

Shaikh, S.A.,

2011. Design and Implementation of Vehicle Tracking System Using GPS. Journal of
Information Engineering and Application, 1(3), pp
.1
-
6.

Montaser, N.R., Mohammad, A.A., Sharaf, A.A., 2012. Intelligent Anti
-
Theft and Tracking System for
Automobiles. International Journal of Machine Learning and Computing, 2(1), pp. 88
-
92.

Titterton, D.H., and Weston, J.L., 2004. St rapdown

Inertial Navi
gation Technology (2
nd

Edition). The Institution of
Electrical Engineers.