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

研究成果: Conference contribution

摘要

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.

原文English
主出版物標題25th International Technical Meeting of the Satellite Division of the Institute of Navigation 2012, ION GNSS 2012
頁面462-469
頁數8
1
出版狀態Published - 2012
事件25th International Technical Meeting of the Satellite Division of the Institute of Navigation 2012, ION GNSS 2012 - Nashville, TN, United States
持續時間: 2012 九月 172012 九月 21

Other

Other25th International Technical Meeting of the Satellite Division of the Institute of Navigation 2012, ION GNSS 2012
國家United States
城市Nashville, TN
期間12-09-1712-09-21

All Science Journal Classification (ASJC) codes

  • Computer Networks and Communications
  • Information Systems

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