International cooperation and technology transfer

Fras, Mojca Kosmatin

Bibliographic data

Monograph

Persistent identifier:: 856490555

Author:: Fras, Mojca Kosmatin

Title:: International cooperation and technology transfer

Sub title:: Ljubljana, Slovenia, February 2 - 5, 2000 : proceedings of the workshop

Scope:: VI, 163 Seiten

Year of publication:: 2000

Place of publication:: London

Publisher of the original:: RICS Books

Identifier (digital):: 856490555

Illustration:: Illustrationen, Diagramme

Language:: English

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

Publisher of the digital copy:: Technische Informationsbibliothek Hannover

Place of publication of the digital copy:: Hannover

Year of publication of the original:: 2016

Document type:: Monograph

Collection:: Earth sciences

Chapter

Title:: A LOW COST MOBILE MAPPING SYSTEM. A. Vettore, A. Guarnieri

Document type:: Monograph

Structure type:: Chapter

157 The whole georeferencing process can be summarized by following relationship: r, m (0 = r” (?) + R? (0 ■ k r (0 + R c- - r' (?) J (3) Fig. 5b: Another view of the relationship btw. rover and stereoscopic camera frame While the first step is accomplished by the stereophoto- grammetric module using only digital image proces sing and photogrammetric techniques, in the second step we require not only the knowledge about the istantaneous position of the vehicle as derived by GPS receiver, but also the information regarding its direc tion, i.e. the bearing, respect to the mapping frame. This is needed to calculate the rotation matrix R 1 " (t) between rover and mapping frame. Given the absence of the INS, we have developed an algorithm to recover the bearing by GPS coordinates only. Certainly, the final accuracy will be lower than that achievable by MMS adopting the INS, but anyway we tried in our research to limit the error position to enough acceptable level for our mobile mapping purposes. Ideally the bearing can be obtained from vehicle trajec tory, computing the curve that represents it, as result of GPS coordinates interpolation, and the tangent to the curve at the point of interest (Fig. 7). Although the GPS receiver provide us with 3 spatial coordinates, we are interested in positioning objects on 2D map, therefore we used in calculations only hori zontal coordinates and only the angle tp between rover and mapping frame (Fig. 6) is computed through the algorithm described in next section. The estimates of that angle are performed in post-processing on the basis of all collected and double differentially corrected GPS measurements. 3. COMPUTING THE ROVER S BEARING In order to estimate the direction of the van for each collected GPS point we employed the prediction-upda te strategy of the well known Kalman filter [4]. The adopted kinematic model describes the vehicle trajectory in terms of state vectors represented by time dependent positional vectors, as derived from discrete time measurements:

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