1A2-B20 道路地物の測量値とGPS/IMUを複合した自己位置標定手法の研究

概要

論文の詳細を見る
In recent years, the necessity of efficient and high accuracy mapping method is increasing. Aerial survey is one of the mainstream methods of mapping. The aerial survey can measure wide area in one flight, but it cannot measure tunnels and those objects under elevated road or roadside trees. Therefore, the efficient land survey technique is required under those environments. A Mobile Mapping System (MMS), which consists of GPS/IMU combined navigation system, cameras and laser scanners, is one of the powerful terrestrial survey methods to compensate the disadvantages of the aerial survey. On the other hand, positioning performance of the GPS/IMU combined navigation system is depreciated by the long-term GPS blockage as well. Therefore, the landmark update method using the conventional survey results and the GPS/IMU combined navigation system is addressed in this paper. Road survey research, which is executed under elevated road where GPS blockage occurred, showed the accuracy of the proposed method.
一般社団法人日本機械学会の論文
2009-05-25