Utilizing Adaptive Time-Variant Transformation Model for Mobile Platform Positioning Error Adjustment
Date Issued
2014
Date
2014
Author(s)
Lo, Chien-Tai
Abstract
A mobile mapping system (MMS) utilizes the global navigation satellite system (GNSS) and inertial navigation system (INS) techniques and thus makes possible a direct georeferencing solution everywhere along its surveyed path. It is capable of acquiring a vast number of spatial information in an efficient manner and is adopted in a wide variety of applications. Nevertheless, when the GNSS signal is obstructed, its positioning solution can only count on the INS observables, which possesses significant and cumulative errors across time. In order to compensate for the position error in a GNSS-denied area, a time-variant adjustment model is developed in this study. Moreover, an adaptive algorithm is proposed to improve the efficiency and reliability of the error adjustment analysis. Based on the results from a case study, it is demonstrated that the positioning error of a mobile mapping platform in an urban area could reach a level of several meters due to GNSS signal obstructions. However, when the proposed approach is applied, the error can be significantly reduced to a centimeter-level. As a result, the applicability of the mobile mapping technique can be further extended to a GNSS-hostile area where current methods are limited.
Subjects
移動測繪系統
慣性導航系統
絕對定位誤差
動態正形轉換模型
自適應模型分析
Type
thesis
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