Bewertung von Inertial/GNSS-Modulen mittels Laserscannern und bekannter Landmarken

authored by: Alexander Schlichting, Claus Brenner, Steffen Schön
Abstract: In this paper vvc present an approach for evaluating inerlial.GNSS sensors using a mobile mapping system with laser scanners. We focus on the accuracy and precision of the absolute and relative position and alignment. The main approach is to delect specific pole-like landmarks in the point cloud, whose absolute position is known with high accuracy. An important evaluation factor is the position deviation between the segmented poles and the corresponding landmarks. This provides information on the accuracy of the system. The system precision is obtained by the scatter of the deviations. To evaluate the precision of the alignment, we generated relatively large orientation angles (several degrees) and angular rates (several degrees per second) by driving over a ramp (pitch and roll angle). This approach is applied to three integrated inertial/GNSS systems in parallel. Since the systems were operated simultaneously, we arc able to compare their precision and accuracy.
Organisation(s): Institute of Cartography and Geoinformatics
Institute of Geodesy
Type: Article
Journal: Photogrammetrie, Fernerkundung, Geoinformation
Volume: 2014
Pages: 5-15
No. of pages: 11
ISSN: 1432-8364
Publication date: 01.02.2014
Publication status: Published
Peer reviewed: Yes
ASJC Scopus subject areas: Geography, Planning and Development, Instrumentation, Earth and Planetary Sciences (miscellaneous)
Electronic version(s): https://doi.org/10.1127/1432-8364/2014/0206 (Access: Closed)
: Details in the research portal "Research@Leibniz University"

BibTeX

@article{d7519b1b130a477fb0b6a040661bb792,
title = "Bewertung von Inertial/GNSS-Modulen mittels Laserscannern und bekannter Landmarken",
abstract = "In this paper vvc present an approach for evaluating inerlial.GNSS sensors using a mobile mapping system with laser scanners. We focus on the accuracy and precision of the absolute and relative position and alignment. The main approach is to delect specific pole-like landmarks in the point cloud, whose absolute position is known with high accuracy. An important evaluation factor is the position deviation between the segmented poles and the corresponding landmarks. This provides information on the accuracy of the system. The system precision is obtained by the scatter of the deviations. To evaluate the precision of the alignment, we generated relatively large orientation angles (several degrees) and angular rates (several degrees per second) by driving over a ramp (pitch and roll angle). This approach is applied to three integrated inertial/GNSS systems in parallel. Since the systems were operated simultaneously, we arc able to compare their precision and accuracy.",
keywords = "Inertial navigation system, Landmarks, Laser scanner, Mobile mapping, Segmentation",
author = "Alexander Schlichting and Claus Brenner and Steffen Sch{\"o}n",
year = "2014",
month = feb,
day = "1",
doi = "10.1127/1432-8364/2014/0206",
language = "Deutsch",
volume = "2014",
pages = "5--15",
journal = "Photogrammetrie, Fernerkundung, Geoinformation",
issn = "1432-8364",
publisher = "E. Schweizerbartsche Verlagsbuchhandlung",
number = "1",
}