On-line smoothing for mobile mapping systems utilizing a low cost MEMS IMU

Thanh Trung Duong, Kai-Wei Chiang, Chin Chia Chang, Jia Ming Cai, Shih Ching Huang

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

Abstract

For Land-based Mobile Mapping Systems (MMS) and navigation applications, the integration of Inertial Navigation System (INS) and Global Positioning System (GPS) is widely applied for determining position and orientation parameters. Due to low cost and small size, the Micro-Electro Measurement System (MEMS) inertial sensor is attractively utilized for commercial MMS. However, since the large bias and scale factor is still the main disadvantage of the MEMS sensor, the positional error of the system grows quickly over time in GPS denied environments. This issue takes place frequently when a land based MMS operates in GNSS hostile environment such as urban area or passing tunnels where the GPS signal is weak or completely blocked. To overcome that problem, this paper introduces on-line smoothing algorithm, which can utilizes the advantages and overcome the limitation of Kalmal filter and off-line Rauch-Tung-Striebel smoother to improve the performance of MMS utilizing low cost MEMS IMU.

Original languageEnglish
Title of host publication25th International Technical Meeting of the Satellite Division of the Institute of Navigation 2012, ION GNSS 2012
Pages462-469
Number of pages8
Volume1
Publication statusPublished - 2012
Event25th International Technical Meeting of the Satellite Division of the Institute of Navigation 2012, ION GNSS 2012 - Nashville, TN, United States
Duration: 2012 Sep 172012 Sep 21

Other

Other25th International Technical Meeting of the Satellite Division of the Institute of Navigation 2012, ION GNSS 2012
CountryUnited States
CityNashville, TN
Period12-09-1712-09-21

Fingerprint

Global positioning system
Costs
Inertial navigation systems
Sensors
Tunnels
Navigation

All Science Journal Classification (ASJC) codes

  • Computer Networks and Communications
  • Information Systems

Cite this

Duong, T. T., Chiang, K-W., Chang, C. C., Cai, J. M., & Huang, S. C. (2012). On-line smoothing for mobile mapping systems utilizing a low cost MEMS IMU. In 25th International Technical Meeting of the Satellite Division of the Institute of Navigation 2012, ION GNSS 2012 (Vol. 1, pp. 462-469)
Duong, Thanh Trung ; Chiang, Kai-Wei ; Chang, Chin Chia ; Cai, Jia Ming ; Huang, Shih Ching. / On-line smoothing for mobile mapping systems utilizing a low cost MEMS IMU. 25th International Technical Meeting of the Satellite Division of the Institute of Navigation 2012, ION GNSS 2012. Vol. 1 2012. pp. 462-469
@inproceedings{8ebb53dde80643f0abf12667162f0203,
title = "On-line smoothing for mobile mapping systems utilizing a low cost MEMS IMU",
abstract = "For Land-based Mobile Mapping Systems (MMS) and navigation applications, the integration of Inertial Navigation System (INS) and Global Positioning System (GPS) is widely applied for determining position and orientation parameters. Due to low cost and small size, the Micro-Electro Measurement System (MEMS) inertial sensor is attractively utilized for commercial MMS. However, since the large bias and scale factor is still the main disadvantage of the MEMS sensor, the positional error of the system grows quickly over time in GPS denied environments. This issue takes place frequently when a land based MMS operates in GNSS hostile environment such as urban area or passing tunnels where the GPS signal is weak or completely blocked. To overcome that problem, this paper introduces on-line smoothing algorithm, which can utilizes the advantages and overcome the limitation of Kalmal filter and off-line Rauch-Tung-Striebel smoother to improve the performance of MMS utilizing low cost MEMS IMU.",
author = "Duong, {Thanh Trung} and Kai-Wei Chiang and Chang, {Chin Chia} and Cai, {Jia Ming} and Huang, {Shih Ching}",
year = "2012",
language = "English",
isbn = "9781622769803",
volume = "1",
pages = "462--469",
booktitle = "25th International Technical Meeting of the Satellite Division of the Institute of Navigation 2012, ION GNSS 2012",

}

Duong, TT, Chiang, K-W, Chang, CC, Cai, JM & Huang, SC 2012, On-line smoothing for mobile mapping systems utilizing a low cost MEMS IMU. in 25th International Technical Meeting of the Satellite Division of the Institute of Navigation 2012, ION GNSS 2012. vol. 1, pp. 462-469, 25th International Technical Meeting of the Satellite Division of the Institute of Navigation 2012, ION GNSS 2012, Nashville, TN, United States, 12-09-17.

On-line smoothing for mobile mapping systems utilizing a low cost MEMS IMU. / Duong, Thanh Trung; Chiang, Kai-Wei; Chang, Chin Chia; Cai, Jia Ming; Huang, Shih Ching.

25th International Technical Meeting of the Satellite Division of the Institute of Navigation 2012, ION GNSS 2012. Vol. 1 2012. p. 462-469.

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

TY - GEN

T1 - On-line smoothing for mobile mapping systems utilizing a low cost MEMS IMU

AU - Duong, Thanh Trung

AU - Chiang, Kai-Wei

AU - Chang, Chin Chia

AU - Cai, Jia Ming

AU - Huang, Shih Ching

PY - 2012

Y1 - 2012

N2 - For Land-based Mobile Mapping Systems (MMS) and navigation applications, the integration of Inertial Navigation System (INS) and Global Positioning System (GPS) is widely applied for determining position and orientation parameters. Due to low cost and small size, the Micro-Electro Measurement System (MEMS) inertial sensor is attractively utilized for commercial MMS. However, since the large bias and scale factor is still the main disadvantage of the MEMS sensor, the positional error of the system grows quickly over time in GPS denied environments. This issue takes place frequently when a land based MMS operates in GNSS hostile environment such as urban area or passing tunnels where the GPS signal is weak or completely blocked. To overcome that problem, this paper introduces on-line smoothing algorithm, which can utilizes the advantages and overcome the limitation of Kalmal filter and off-line Rauch-Tung-Striebel smoother to improve the performance of MMS utilizing low cost MEMS IMU.

AB - For Land-based Mobile Mapping Systems (MMS) and navigation applications, the integration of Inertial Navigation System (INS) and Global Positioning System (GPS) is widely applied for determining position and orientation parameters. Due to low cost and small size, the Micro-Electro Measurement System (MEMS) inertial sensor is attractively utilized for commercial MMS. However, since the large bias and scale factor is still the main disadvantage of the MEMS sensor, the positional error of the system grows quickly over time in GPS denied environments. This issue takes place frequently when a land based MMS operates in GNSS hostile environment such as urban area or passing tunnels where the GPS signal is weak or completely blocked. To overcome that problem, this paper introduces on-line smoothing algorithm, which can utilizes the advantages and overcome the limitation of Kalmal filter and off-line Rauch-Tung-Striebel smoother to improve the performance of MMS utilizing low cost MEMS IMU.

UR - http://www.scopus.com/inward/record.url?scp=84879650180&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84879650180&partnerID=8YFLogxK

M3 - Conference contribution

SN - 9781622769803

VL - 1

SP - 462

EP - 469

BT - 25th International Technical Meeting of the Satellite Division of the Institute of Navigation 2012, ION GNSS 2012

ER -

Duong TT, Chiang K-W, Chang CC, Cai JM, Huang SC. On-line smoothing for mobile mapping systems utilizing a low cost MEMS IMU. In 25th International Technical Meeting of the Satellite Division of the Institute of Navigation 2012, ION GNSS 2012. Vol. 1. 2012. p. 462-469