Integrated GNSS Attitude Determination and Positioning for Direct Geo-Referencing

Sensors

Nandakumaran Nadarajah²  Jens-André Paffenholz¹ 

[1] Geodetic Institute, Leibniz Universität Hannover, Nienburger Str. 1, 30167 Hannover, Germany;Global Navigation Satellite System (GNSS) Research Centre, Department of Spatial Sciences, Curtin University, GPO Box U1987, Perth WA 6845, Australia; E-Mails:

关键词: global navigation satellite system (GNSS);    attitude determination;    multivariate constrained integer least-squares (MC-LAMBDA);    carrier phase ambiguity resolution;    direct geo-referencing;    laser scanner;   

DOI  :  10.3390/s140712715

来源: mdpi

【 摘 要 】

Direct geo-referencing is an efficient methodology for the fast acquisition of 3D spatial data. It requires the fusion of spatial data acquisition sensors with navigation sensors, such as Global Navigation Satellite System (GNSS) receivers. In this contribution, we consider an integrated GNSS navigation system to provide estimates of the position and attitude (orientation) of a 3D laser scanner. The proposed multi-sensor system (MSS) consists of multiple GNSS antennas rigidly mounted on the frame of a rotating laser scanner and a reference GNSS station with known coordinates. Precise GNSS navigation requires the resolution of the carrier phase ambiguities. The proposed method uses the multivariate constrained integer least-squares (MC-LAMBDA) method for the estimation of rotating frame ambiguities and attitude angles. MC-LAMBDA makes use of the known antenna geometry to strengthen the underlying attitude model and, hence, to enhance the reliability of rotating frame ambiguity resolution and attitude determination. The reliable estimation of rotating frame ambiguities is consequently utilized to enhance the relative positioning of the rotating frame with respect to the reference station. This integrated (array-aided) method improves ambiguity resolution, as well as positioning accuracy between the rotating frame and the reference station. Numerical analyses of GNSS data from a real-data campaign confirm the improved performance of the proposed method over the existing method. In particular, the integrated method yields reliable ambiguity resolution and reduces position standard deviation by a factor of about 0.8, matching the theoretical gain offor two antennas on the rotating frame and a single antenna at the reference station.

【 授权许可】

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