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

Evaluation of inertial measurement systems using laser scanners and known landmarks

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In diesem Beitrag wird ein Konzept zur Bewertung von Inertial/GNSS-Sensoren in einem mit Laserscannern ausgestatteten Mobile-Mapping-System vorgestellt. Besonderes Augenmerk liegt hierbei auf der Genauigkeit der Position und Verdrehung. Zu deren Beurteilung wurde ein Algorithmus entwickelt, mit welchem Landmarken aus einer Punktwolke egmentiert und anschließend Referenzlandmarken zugeordnct werden. Die Abweichungen zwischen den segmentierten Landmarken und den korrespondierenden Referenzen geben Aufschluss über die äußere Genauigkeit des Gesamtsystems. Die Wiederholgenauigkeit wird anhand der Streuung der Abweichungen bestimmt. Durch die Erzeugung relativ großer Orientierungswinkel und Drehraten auf einer Rampe (Nick- und Roll-Winkel) wird außerdem die Genauigkeit der Verdrellllng bestimmt. Das entwickelte Bewertungskonzept wird anschließend gleichzeitig auf drei verschiedene Inertial/GNSS-Kombinationen angewendet Durell die simultane Messung lassen sich damit die Genauigkeit werte der verschiedenen Systeme vergleichen.



In this paper we present an approach for evaluating inertial/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 detect 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 incrtial/GNSS systems in parallel Since the systems were operated simultaneously, we are able to compare their precision and accuracy.
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Keywords: INERTIAL NAVIGATION SYSTEM; LANDMARKS; LASER SCANNER; MOBILE MAPPING; SEGMENTATION

Language: German

Document Type: Research Article

Publication date: February 1, 2014

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  • Photogrammetrie - Fernerkundung - Geoinformation (PFG) is an international scholarly journal covering the progress and application of photogrammetric methods, remote sensing technology and the intricately connected field of geoinformation processing.

    Papers published in PFG highlight new developments and applications of these technologies in practice. The journal hence addresses both researchers and student of these disciplines at academic institutions and universities and the downstream users in both the private sector and public administration.

    PFG places special editorial emphasis on the communication of new methodologies in data acquisition, new approaches to optimized processing and interpretation of all types of data which were acquired by photogrammetric methods, remote sensing, image processing and the computer-aided interpretation of such data in general.

    PFG is the official journal of the German Society of Photogrammetry and Remote Sensing.
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