Accuracy Assessment of the Integration of GNSS and a MEMS IMU in a Terrestrial Platform

Sensors

Sergio Madeira²  Wenlin Yan¹  Luísa Bastos¹ 

[1] Department of Geosciences Environment and Spatial Planning, Faculty of Science, University of Porto, Rua Campo Alegre 687, Porto 4169-007, Portugal; E-Mails:;University of Trás-os-Montes e Alto Douro, Vila Real 5000-801, Portugal; INESC TEC - Technology and Science, Rua Dr. Roberto Frias, 4200-465 Porto, Portugal

关键词: Mobile Mapping System;    Global Navigation Satellite Systems;    Inertial Navigation System;    GNSS/IMU;   

DOI  :  10.3390/s141120866

来源: mdpi

【 摘 要 】

MEMS Inertial Measurement Units are available at low cost and can replace expensive units in mobile mapping platforms which need direct georeferencing. This is done through the integration with GNSS measurements in order to achieve a continuous positioning solution and to obtain orientation angles. This paper presents the results of the assessment of the accuracy of a system that integrates GNSS and a MEMS IMU in a terrestrial platform. We describe the methodology used and the tests realized where the accuracy of the positions and orientation parameters were assessed using an independent photogrammetric technique employing cameras that integrate the mobile mapping system developed by the authors. Results for the accuracy of attitude angles and coordinates show that accuracies better than a decimeter in positions, and under a degree in angles, can be achieved even considering that the terrestrial platform is operating in less than favorable environments.

【 授权许可】

CC BY   
© 2014 by the authors; licensee MDPI, Basel, Switzerland.