5B-3-7 
was driven at a speed of about 80 kilometers an 
hour in the highway. On the way, the vehicle 
ran along a road paralleled to the elevated road 
for over 30 minutes. The results corrected in 
post processing were plotted on the digital map 
with a scale of 1:2500. Regardless of the bad 
condition for GPS positioning, the accuracy of 
the running trajectory was within about 10 
meters. 
5. CONCLUSIONS 
The development of a core technology for MMS, 
which was main object of this research, has 
been performed successfully. In the HISS, there 
are two integrated navigation modes. One is 
the INS/DGPS mode. The other is the 
INS/Odometer mode. They have been developed 
by applying the Kalman filter. When the 
odometer velocity is referenced, the scale factor 
error and the misalignment of the wheel 
direction relative to the INS body frame have 
been considered. As expected, the experimental 
results showed that three combinations of INS, 
DGPS and Odometer was capable of positioning 
with a accuracy of several meters continuously. 
This accuracy may not sufficient for the land 
surveying. But, in 3D data acquisition for the 
power distribution mapping or car navigation 
system, the relative position from the road is 
required. Therefore, the measured trajectory 
must be shifted to the digital road on base map. 
It may safely be said that the HISS will provide 
reasonable positioning accuracy in such 
applications. Another object was the 
fundamental test of feasibility for ITS. Results 
of the accuracy equal to or better than 0.1 % in 
the gradient of road, 3 % in the radius of 
curvature were achieved. And it indicated that 
the HISS could get the road alignment 
information efficiently. 
These experiment results have demonstrated 
that the MMS will offer a great cost reduction 
in the land surveying, and a shorter 
turnaround time, as compared to traditional 
methods. At the present time, the sufficient 
statistical results to verify the validation of this 
direct measurement are not obtained. In future, 
we are planning to improve the positioning 
accuracy by tuning of Kalman filter and 
integrate with the kinematic photogrammetry 
without ground control points. In order to carry 
out these programs, the numerous tests and 
further investigations will be needed. 
The MMS will provide car navigation system 
with even more sophisticated data. For 
example, the gradient data will prevent the 
mismatch occurring when cars run along the 
road parallel to the elevated road. During the 
daytime, and at night or in inclement weather 
when visibility is poor, it will offer the strict 
and accurate guidance information such as 
traffic facilities or lane information. 
Furthermore, it would be able to give warning 
of danger to a driver based on the current speed 
and the curvature ahead if there is a possibility 
over the limits, as a result, control optimum 
speed automatically. In this way, the mobile 
mapping technologies have make a great deal 
of potentialities to realize the Safety Driving 
Assistance in ITS. 
REFERENCES 
Yutaka Shimogaki, 1996. Mobile mapping 
system by the GPS/INS integration technique. 
AM/FM INTERNATIONAL, JAPAN 7 th 
conference, pp. 105-112. 
Tadashi Tamura, Tooru Kitagawa, Kyu Tsuji, 
Osamu Uchida, Yutaka Shimogaki. 1998. The 
GPS/INS Integration and Kinematic 
Photogrammetry for Mobile Mapping System, 
International Archives of Photogrammetry and 
Remote Sensing. Vol.XXXII, Part5, pp.824-829. 
D.Lapucha, K.P.Schwarz, M.E.Cannon and 
H. Martel, The Use of INS/GPS in a Highway 
Survey System, Proc. Of IEEE PLANS, 1990. 
George M.Siouris, 1993, Aerospace Avionics 
System, Academic Press, Inc. 
ITS HAND BOOK, 1998, Highway Industry 
Development Organization