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

The reference system is the SPAN-CPT with NovAtel OEMV-3 integrated system. The reference solutions were computed by the single point positioning (SPP) solutions with Rauch-Tung- Striebel (RTS) smoother. The test systems are the C-MIGITS III with NovAtel OEMV-3 integrated system and C-MIGITS III with U-blox AEK-4T integrated system. And the test systems are implemented by the SPP solutions and the Kalman filters with non-holonomic constraints to integrate. 4.2 Field Scenario The field scenario of the land vehicle was conducted in the downtown area of Tainan, and the total trajectory distance is 5 kilometers and the work time is 20 minutes. The trajectory is displayed in Google Earth as shown in Figure 7, and Figure 8 shows the building distribution and scenes beside the roads went through in the field scenario. The installed instruments on the top of the land vehicle can be shown as Figure 9. 5 c ld scenario Figure 9. Installation of the instruments 4.3 Results The testing system is composed of the tactical INS (C-MIGITS IIT) with low-cost GPS receiver (U-blox) and a geodetic grade dual frequency GPS receiver, respectively. The integration algorithms to deal with the data fusion in this study are EKF, AKF, EKF with NHC and AKF with NHC. The reference system is the SPAN-CPT with geodetic GPS receiver integrated 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 system and the integrated algorithm is RTS smoother processed in post-mission with differential carrier phase measurements. For testing system, the GPS solutions are proceed with the SPP solutions. The PDOP values and visible satellite numbers of the geodetic GPS receiver and the low-cost GPS receiver in the field scenario are shown in Figure 10 and Figure 11. PZOP/Satellia numbers salve ae * Wo v RAT 28 | 9 oul SR m 0060000 bio (EEE veu, EE : pm: m en T TELE Ce Cp wr dis Figure 10. PDOP and visible satellites of the geodetic GPS receiver PROP Satelite rushes Figure 11. PDOP and visible satellites of the low-cost GPS receiver W4.3.1 Tactical INS & Geodetic GPS receiver The first scenario is to demonstrate the results of tactical INS and geodetic GPS receiver processed by EKF, EKF with NHC, AKF and AKF with NHC, respectively. Figurel2 shows the n- frame trajectories of the integration algorithms, and positional solutions errors in local level frame (East, North and Up directions) are shown in Figures 13 to 15. Farectary E ur REPRE EKF fm i: sesssexe EE e NHC : y N 7 ' summum À KF 5 3 AKF+NHC 7 i — Reference | ow" de i oa tinm, T ea LT 1 i i i 3 nes A Net we Tus pon fast Figure 12. The trajectories of the first test integrated system Positioning Error - E o EE x

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