Istanbul 2004
| Units
bration
[imm
mm
mm
mms
mm/s
mm/s
arcsec
arcsec
arcsec
bration
; mm
) mm
mm
mm/s
mm/s
mm/s
arcsec
arcsec
arcsec
ovement
summary of
International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences, Vol XXXV, Part BS. Istanbul 2004
in Units
5 mm
3 mm
ui mm
v
arcsec
]
) arcsec
1 arcsec
en solutions
ed test);
lone: Meter
VEN A
an lo
120. 140
OV and INS-
alibration;
0.03 -
0.02 +
Lam
sm |
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= Dr Kehren peti ete M IRAE 5
; ; : ; : : : Mies
001 ooo EeeebeeedbeeebeeMeee bees
agr bebe b b fo
e --
0.04 i 1 i | fo i i
Altitude (Heading, Pitch, Roll) Difference of INS+DOV and INS alone: ArcSec
15 T
T T T T I
se af, ia : : —— Heading
Mt $t i : i =» Pitch
t wm a= T !*"heusada ; Roll
0-3-4 4-30 nn werner. A BE are TEE UN E
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5 Er Ex = ' = 1 a ^
: à six I AL Dd o£ 0m
= ar ee. €. ' * ' = m
= - * Eu led a - à x =
: t E 2 E . =
- * : - x =
BEN SE A ey UN UI 7
» wn "yx. “ 1 - , - «
: “5 Po =; T ; = J
a nd : 3 ! : .
> RAT x Nr 2, Poeme Tr pee
= Or AN CE 20
= vo "oo. ="; « = 5 ¥ ®
giam. 1:E an eL XX t3. en crm I cR Lum E error zd
o "ei w» 5a 71 ww 1 "1 = f
e dg So ug ^u ale my 1 ‘ ¥ wy i = +
xt dni ENC A : * um : =
et DE : a. ww = x
i E a.u Bum aam E. TR, ' 85 ww a k
2 rym amor NM. ’ 1 * Ew! . =
5 E uU LR La a Sn mn BY he ines À
T^ E 7x TES a (Tx Y. se T ENTRA "Ww. * x
AE x % "An f 11mm a 2 1 €". 4 -
He dl ale a RENE LA | BB MW = &
Mum? Te wpa t. a n a x = » P :
: 0 ea 3 ’ * & 1 '
apti i te ln S ET a ig ;
‘ I I. =
N A A A ----
t aC! UN ael M OF ; ix: fa :
e dr am C i pw. en] : * a x :
e now Worm t : "d | :
> ^ -*41 3» : ^. » :
-15 1 | I 1 ] 1
j a 20. 40 60 B0 - 100 120 140
Epoch From 324268 To 324389 [Second]
Figure 10. Attitude difference between INS/DOV and INS-
only solutions after ~1300 s of GPS-based calibration;
land-based test.
^ Latitude, Longitude, Height Difference of GPS*INS«DOV and INS+DOV+ZUPT. Meter
005 — n: ;
: : : : 1| — Latitude
i i : : : i | === Longitude :
ERU ud Pen TIT SiL SINE Height IR IDE N
ü 10 20 3 40 50 60 70 80 so
Epoch From 323789 To 323674 [Second]
Figure 11. Coordinate difference between GPS/INS/DOV
and INS/DOV/ZUPT solutions (85-s ZUPT event);
land-based test.
Latitude, Longitude, Height Difference of GPS+INS+DOV and INS+DOV+ZUPT: Meter
0.08 — T E EIS
Latitude
go+-----------. darsemanet-tateca---"00ndenimeneneananne *** longitude Ll
; Height
Meter
1
penn mena man ds a hm a a ww ee mee i ; -
4 85 seconds’ ZUPT I :
0.12 1 ] l
0 30 415 145
Epoch From 323759 To 323904 [Second]
Figure 12. Coordinate difference between GPS/INS/DOV
and INS/DOV/ZUPT solutions; land-based test; 30-s free
INS navigation shown before and after the ZUPT event.
Acknowledgements
This research is supported by the National Geospatial-
Intelligence Agency (NGA), OSU grant number 745632.
REFERENCES
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System for Airborne Photogrammetry, presented at
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10, Seattle, WA.
El-Sheimy, N. and Schwarz, K. P., 1999. Navigating Urban
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45(4), pp. 275-286.
Grejner-Brzezinska, D., Yi, Y., Toth, T. Anderson, R.,
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Gravity Compensation for Improved Inertial Navigation
Accuracy, Proceedings, ION GPS, September 9-12, CD
ROM.
Grejner-Brzezinska D. A., Yi Y and Toth C. K,, 2001.
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