Abstract
MEMS Inertial Measurement Units are available at low cost and can replace expensive units in mobile mapping platforms which need direct georeferencing. This is done through the integration with GNSS measurements in order to achieve a continuous positioning solution and to obtain orientation angles. This paper presents the results of the assessment of the accuracy of a system that integrates GNSS and a MEMS IMU in a terrestrial platform. We describe the methodology used and the tests realized where the accuracy of the positions and orientation parameters were assessed using an independent photogrammetric technique employing cameras that integrate the mobile mapping system developed by the authors. Results for the accuracy of attitude angles and coordinates show that accuracies better than a decimeter in positions, and under a degree in angles, can be achieved even considering that the terrestrial platform is operating in less than favorable environments.
Highlights
A Direct Georeferencing System (DGS) can be defined as a set of sensors onboard a platform, whose goal is to obtain positions and attitudes of the origin of a reference system, defined in the platform, without external control points
One main application of a DGS is as a major component of a Mobile Mapping System (MMS), which contains, besides the DGS, a set of remote sensors to acquire information from the surrounding objects
In order to evaluate the quality of the obtained navigation solution, the authors compared the exterior orientation parameters obtained independently from the cameras on the platform, with the parameters derived from the DGS itself
Summary
A Direct Georeferencing System (DGS) can be defined as a set of sensors onboard a platform, whose goal is to obtain positions (as three coordinates) and attitudes (as three angles) of the origin of a reference system, defined in the platform, without external control points. One main application of a DGS is as a major component of a Mobile Mapping System (MMS), which contains, besides the DGS, a set of remote sensors to acquire information from the surrounding objects. The linkage of absolute positions and orientation parameters to the remote sensors allows the determination of positional and geometrical information of the objects observed [1]. Detailed descriptions of this technology can be found for example in [2,3]. Terrestrial MMS can be used to acquire data of urban or road infrastructures and can be optimized for specific applications such as traffic sign inventory and railway or road inspection as described in [4,5,6]. More specific applications of terrestrial MMS are the automatic DTM (Digital Terrain Model) generation in sandy beaches [7], river shorelines change detection [8] or pavement surface analysis [9]
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