Abstract
Abstract. Mobile laser scanning systems are becoming an increasingly popular means to obtain 3D coverage on a large scale. To perform the mapping, the exact position of the vehicle must be known throughout the trajectory. Exact position is achieved via integration of Global Positioning Systems (GPS) and Inertial Navigation Systems (INS). Yet, in urban environments, cases of complete or even partial GPS outages may occur leaving the navigation solution to rely only on the INS. The INS navigation solution degrades with time as the Inertial Measurement Unit (IMU) measurements contains noise, which permeates into the navigation equations. Degradation of the position determination leads to loss of data in such segments. To circumvent such drift and its effects, we propose fusing INS with lidar data by using building edges. This detection of edges is then translated into position data, which is used as an aiding to the INS. It thereby enables the determination of the vehicle position with a satisfactory level accuracy, sufficient to perform the laser-scanning based mapping in those outage periods.
Highlights
Mobile laser-scanning mapping systems are becoming an increasingly employed means for gaining accurate and detailed 3D data on a large scale
Global Positioning Systems (GPS) outages may occur in urban environments along urban canyons, or in other cases of signal blockage, e.g., tunnels or covered areas, leaving the navigation solution to rely on the Inertial Navigation Systems (INS) standalone solution
We explore the case of navigation in an urban environment
Summary
Mobile laser-scanning mapping systems are becoming an increasingly employed means for gaining accurate and detailed 3D data on a large scale Obtaining this data, the vehicle position must be known accurately throughout the trajectory, making it necessary to obtain continuous and accurate navigation solution. We propose mitigating the INS drift in periods of GPS outages by using the acquired laser scanning data and ground plans. International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences, Volume XXXVIII-5/W12, 2011 ISPRS Calgary 2011 Workshop, 29-31 August 2011, Calgary, Canada as information to aid the INS Testing this approach shows that the aided INS solution provides vehicle position with a satisfactory level of accuracy, sufficient to perform mobile laser mapping scanning projects when no GPS information is available
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