Abstract
Abstract. Nowadays the most common technologies used for positioning and orientation of a mobile mapping system include using Global Navigation Satellite System (GNSS) as a major positioning sensor and Inertial Navigation System (INS) as the major orientation sensor. The integration strategy of the most commercially system is the loosely coupled (LC) architecture, that has the simplest architecture using the GNSS solutions to aid the INS navigation information with proper optimization estimator. The LC does combine the two sensors’ solutions when the number of tracked satellite is more than four. In recent year, another commonly integration strategy is known as tightly coupled (TC) architecture. Because the TC uses the GNSS measurements to aid INS, it can integrate measurements provided by GNSS receiver and INS unless no GNSS satellite is tracked. Obviously, the TC architecture is a better candidate for land based mobile mapping applications than LC in Taiwan. Unfortunately, there are still many GNSS denied environment in the urban area, therefore the TC architecture is still not robust and stable enough for MMS application. The overall objective of this paper is to provide a scheme that tightly integrates INS/GNSS and Photogrammetric for land based MMS applications with sufficient and stable POS solutions during GNSS outages. In the traditional photogrammetry operation, numerous ground control points are applied to compute those Exterior Orientation Parameters (EOPs) of cameras by bundle adjustment. The key opinion is to derive the INS centre position and attitude and reconstruct 3-D tracking and 3-D object space by cameras EOPs. The proposed algorithm is verified using field test data collected in GNSS denied environments and the preliminary results presented in this study illustrated that the proposed algorithm is able to provide 60% improvement in terms of positioning and orientation accuracy in Taipei and Tainan cities.
Highlights
The development of land-based mobile mapping systems was initiated by two research groups, namely The Center for Mapping at Ohio State University, USA, and the Department of Geomatics Engineering at the University of Calgary, Canada
The objective of this study is to integrate the photogrammetry technology and Inertial Navigation System (INS)/Global Navigation Satellite Systems (GNSS) that can overcome the limitations of current tightly coupled (TC) architecture to improve the DG accuracy in GNSS denied environments with the latest mapping van developed at the National Cheng Kung University (NCKU) in Taiwan
This study aims at the performance between MTC and TC, because the TC is more robust and comfortable than loosely coupled (LC) in the urban
Summary
An Inertial Navigation System (INS) is a self-contained navigation technique in which measurements provided by accelerometers and gyroscopes are used to track the position and orientation of an object relative to a known starting point, orientation and velocity. The Global Navigation Satellite Systems (GNSS) is a universal, all-weather, world-wide positioning system that provides time, position, and velocity data. Both systems can be used as stand-alone navigation tools or in conjunction with other sensors for various purposes. Advances in MEMS technology enables the development of complete IMU composed of multiple MEMS-based accelerometers and gyroscopes In addition to their compact and portable size, the price of MEMS-based systems is far less than those of high quality IMU
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