XXII ISPRS Congress 2012: Technical Commission VII

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Multivolume work

Persistent identifier:: 1663813779

Title:: XXII ISPRS Congress 2012

Sub title:: Melbourne, Australia, 25 August-1 September 2012

Year of publication:: 2013

Place of publication:: Red Hook, NY

Publisher of the original:: Curran Associates, Inc.

Identifier (digital):: 1663813779

Language:: English

Additional Notes:: Kongress-Thema: Imaging a sustainable future

Corporations:: International Society for Photogrammetry and Remote Sensing, Congress, 22., 2012, Melbourne; International Society for Photogrammetry and Remote Sensing

Adapter:: International Society for Photogrammetry and Remote Sensing, Congress, 22., 2012, Melbourne; International Society for Photogrammetry and Remote Sensing

Founder of work:: International Society for Photogrammetry and Remote Sensing, Congress, 22., 2012, Melbourne; International Society for Photogrammetry and Remote Sensing

Other corporate:: International Society for Photogrammetry and Remote Sensing, Congress, 22., 2012, Melbourne; International Society for Photogrammetry and Remote Sensing

Document type:: Multivolume work

Volume

Persistent identifier:: 1663821976

Title:: Technical Commission VII

Scope:: 546 Seiten

Year of publication:: 2013

Place of publication:: Red Hook, NY

Publisher of the original:: Curran Associates, Inc.

Identifier (digital):: 1663821976

Illustration:: Illustrationen, Diagramme

Signature of the source:: ZS 312(39,B7)

Language:: English

Additional Notes:: Erscheinungsdatum des Originals ist ermittelt.; Literaturangaben

Usage licence:: Attribution 4.0 International (CC BY 4.0)

Corporations:: International Society for Photogrammetry and Remote Sensing, Congress, 22., 2012, Melbourne; International Society for Photogrammetry and Remote Sensing

Adapter:: International Society for Photogrammetry and Remote Sensing, Congress, 22., 2012, Melbourne; International Society for Photogrammetry and Remote Sensing

Founder of work:: International Society for Photogrammetry and Remote Sensing, Congress, 22., 2012, Melbourne; International Society for Photogrammetry and Remote Sensing

Other corporate:: International Society for Photogrammetry and Remote Sensing, Congress, 22., 2012, Melbourne; International Society for Photogrammetry and Remote Sensing

Publisher of the digital copy:: Technische Informationsbibliothek Hannover

Place of publication of the digital copy:: Hannover

Year of publication of the original:: 2019

Document type:: Volume

Collection:: Earth sciences

Chapter

Title:: [VII/7, III/2, V/1, V/3, ICWG V/I: LOW-COST UAVS (UVSS) AND MOBILE MAPPING SYSTEMS]

Document type:: Multivolume work

Structure type:: Chapter

Chapter

Title:: THE PERFORMANCE ANALYSIS OF AN AKF BASED TIGHTLY-COUPLED INS/GPS INTEGRATED POSITIONING AND ORIENTATION SCHEME WITH ODOMETER AND NON-HOLONOMIC CONSTRAINTS Kun-Yao Peng, Cheng-An Lin, Kai-Wei Chiang

Document type:: Multivolume work

Structure type:: Chapter

ud need to ze are still | of poten- > are many te sensing ional tech- ations of a as include ronmental MVS pro- The UAV angles, it detail 3D logistical, g. Thank fusion nD algorithms and appre- vid Lowe 1kawa and ; (PMVS2 el poisson ing LNCS curacy of stereopsis urrently in 3D Object ogramme- note Sens- )0), pp. 3- on surface s Sympo- >chniques: om Scale- iter Vision WiKI” . 3D Mod- 1 21(115), ) Tourism: actions on ta-Parallel ons on vi- 31. International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences, Volume XXXIX-B7, 2012 XXII ISPRS Congress, 25 August — 01 September 2012, Melbourne, Australia THE PERFORMANCE ANALYSIS OF AN AKF BASED TIGHTLY-COUPLED INS/GPS INTEGRATED POSITIONING AND ORIENTATION SCHEME WITH ODOMETER AND NON-HOLONOMIC CONSTRAINTS Kun-Yao Peng", Cheng-An Lin* *, Kai-Wei Chiang* * Dept. of Geomatic, National Cheng Kun University, No.1, University Road, Tainan County 701, Taiwan — p66004057@mail.ncku.edu.tw Commission VIU/7, III/2, V/1, V/3, ICWG V/I: Low-cost UAVs (UVSs) and mobile mapping systems KEY WORDS: INS, GPS, Tightly-coupled, AKF, non-holonomic constraints ABSTRACT: INS/GPS integration scheme can overcome the shortcoming of GPS or INS alone to provide superior performance, thus this study implements a tightly-coupled INS/GPS integration scheme using AKF as the core estimator by tuning the measurement noise matrix R adaptively. The AKF is based on the maximum likelihood criterion for choosing the most appropriate weight and thus the Kalman gain factors. The conventional EKF implementation suffers uncertain results while the update measurement noise matrix R and/or the process noise matrix Q does not meet the case. The primary advantage of AKF is that the filter has less relationship with the priori statistical information because R and/or Q vary with time. The innovation sequence is used to derive the measurement weights through the covariance matrices, innovation-based adaptive estimation (IAE) in this study. The covariance matrices R are adapted in the study when measurements update with time. A window based approach is implemented to update the quality of GPS pseudo- range measurements by adaptively replace the measurement weights through the latest estimated covariance matrices R. The use of odometer is particularly recommended when a low cost and precise vehicle localization system has to be implemented and there is the risk of GPS coverage failure, which is prone to happen when the vehicle enters a tunnel or cross deep valleys. Odometers are applied in land-vehicle navigation to provide augmented host velocity observations for standalone INS system in this study. There are two non-holonomic constraints (NHC) available for land vehicles. Land vehicles will not jump off the ground or slid on the ground under normal condition. Using these constraints, the velocity of the vehicle in the plane perpendicular to the forward direction is almost zero. EKF and AKF based tightly-coupled scheme with NHC is implemented in the study. To validate the performance of AKF based tightly-coupled INS/GPS integration scheme with odometer and NHC, field scenarios were conducted in the downtown area of Tainan city. The data fusion of INS/GPS/Odometer/NHC can be used as stand-alone positioning tool during GPS outages of over 1 minute, and AKF based tightly-coupled INS/GPS integration scheme can be more stable combined with odometer and NHC during GPS outages of over 1 minute likewise. 1. INTRODUCTION Global Positioning System (GPS) receivers require direct line of sight signals to the GPS satellite to provide navigation solutions with long-term stability; consequently, it is capable of providing continuous navigation solutions with uninterrupted signal reception. However, GPS leaves two scenarios to be considered in the land environment. The first one is intermittent signal reception, as for instance in heavily forested areas or in urban canyons. The other one is no signal reception at all, as for instance in buildings, tunnel or underground. In the first case, GPS has to be integrated with other sensors to bridge periods of no signal reception. In the second case, GPS has to be replaced by another navigation system that can provide continuous navigation solutions in above environments during no GPS signal reception. On the contrary, Inertial Navigation System (INS) is widely used in many applications for navigating of moving platforms. Low-cost INS can experience large position and attitude errors over short term duration in comparison with high-grade systems. It has been proved through numerous researches that the INS/GPS integrated is the ideal technique for seamless vehicular navigation. * Corresponding author: C.A. Lin The stand-alone INS is self-contained and independent of external signals. Providing acceleration, angular rotation and attitude data at high sampling rates is the primary advantage of using INS in land vehicles. However, the disadvantage of using INS is that its accuracy degrades rapidly with time because of the accumulations of nonlinear errors and noises from accelerometers and gyros, as shown in Figure 1. Therefore, INS is used in the short-term case if no other navigation system or navigational aids is available. Position Error IMU-sensed Final Position” +... Actual Final Position Figure 1. The limitations of INS based navigation systems The integrated system consisted of INS and GNSS takes advantage of the complementary attributes of both systems and

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