Improving the accuracy of mems IMU/GPS POS systems for land-based mobile mapping system by using tightly coupled integration and auxiliary odometer

Thanh Trung Duong, Yun Wen Huang, Kai-Wei Chiang

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

Mobile mapping system (MMS) has developed rapidly over the past two decades. In that system, a direct geo-referencing system using Global Positioning System (GPS) and Inertial Navigation System (INS) is applied to determine the time-variable position and orientation parameters. The Kalman filter is used as an optimal estimation tool for real-time INS/GPS integrated kinematic position and orientation determination. The loosely coupled (LC) system is commonly used as an INS/GPS integration approach due to its simplicity to derive navigation information. However, in the urban area, since there is usually less than four GPS satellites can be tracked, the INS errors will grow as a function of time during GPS signal outages. In that case, tightly coupled (TC) integration should be beneficial in such poor GPS signal reception environments because the measurement updates can be provided even if there are less than four satellites in the sky. Additionally, vehicle body velocities provided by the odometer are used to minimize the POS errors during GPS signal gaps.

Original languageEnglish
Title of host publication31st Asian Conference on Remote Sensing 2010, ACRS 2010
Pages515-520
Number of pages6
Publication statusPublished - 2010 Dec 1
Event31st Asian Conference on Remote Sensing 2010, ACRS 2010 - Hanoi, Viet Nam
Duration: 2010 Nov 12010 Nov 5

Publication series

Name31st Asian Conference on Remote Sensing 2010, ACRS 2010
Volume1

Other

Other31st Asian Conference on Remote Sensing 2010, ACRS 2010
CountryViet Nam
CityHanoi
Period10-11-0110-11-05

All Science Journal Classification (ASJC) codes

  • Computer Networks and Communications

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    Duong, T. T., Huang, Y. W., & Chiang, K-W. (2010). Improving the accuracy of mems IMU/GPS POS systems for land-based mobile mapping system by using tightly coupled integration and auxiliary odometer. In 31st Asian Conference on Remote Sensing 2010, ACRS 2010 (pp. 515-520). (31st Asian Conference on Remote Sensing 2010, ACRS 2010; Vol. 1).