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International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences, Vol XXXV, Part BS. Istanbul 2004
INS data into the bundle adjustment may provide improvements
in both accuracy and reliability. A tighter coupling of the GPS
and photogrammetric processing engines where the GPS code
pseudoranges are directly included in the bundle adjustment is
currently investigated at the university of Calgary [Ellum,
2004]. The goal of this integration is to improve the accuracy
and reliability when compared to the simple inclusion of GPS
positions. It is hoped that accuracies similar to those obtained
by a wide-area augmentation system can be achieved.
A more far-reaching step would the development of two-way
information sharing between a photogrammetric adjustment and
the kinematic GPS/INS processing. In this architecture, a
Kalman-filter-based kinematic GPS/INS processor provides
precise position and orientation to the photogrammetric
adjustment. In turn, the photogrammetric adjustment provides
position updates to the Kalman filter. These position updates
should aid the ambiguity resolution of the GPS/INS processor,
making the entire process more accurate and more robust. This
will be of major importance to mobile mapping with land
vehicles, as it will result in a more consistent mapping space
accuracy. This will reduce the requirement for zero-velocity
updates (ZUPTS), when signal outages occur (i.e., bridging),
and will allow to reinitialize the GPS ambiguities to integer
values following outages.
7. CONCLUSIONS
T Looking at the development of Mobile Mapping Systems
over the past fifteen years the following conclusions can be
drawn:
B Mobile mapping, the combination of digital imaging
and geo-referencing, has developed from a topic of
, academic interest to a commercially viable industry
with airborne, land-based, and marine applications.
B With the still rapid development of high-resolution
digital frame cameras and the current testing of digital
scanners that promise higher resolution than film-
based cameras, economy and efficiency are on the
side of this new technology.
W The geo-referencing technology has matured, due to
the ongoing refinement and miniaturization of GPS-
receiver hardware and the use of low and medium
cost IMU's, and has become more affordable during
the past decade. It appears that a major step forward is
imminent as MEMS sensor technology will result in
considerable cost reductions for tactical-grade gyros
and in new multi-sensor system concepts.
Bl The ongoing development of mathematical modeling
and advanced post-mission estimation techniques will
further increase accuracy and robustness of the
solutions.
Furthermore, some emerging real-time problems may have
considerable socio-economic impact in applications such as fire
fighting or offshore pollution control.
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