1A2-Q13 GPS衛星不可視環境下における位置標定の高精度化に関する研究 : ランドマーク観測誤差低減による位置補正の高精度化(ITSとロボット・メカトロ技術)

概要

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Mobile Mapping System(MMS) come to be widely used in survey. Although MMS can survey precisely in open sky condition, the quality of positioning is reduced in GPS blockage conditions like urban area because errors which accumulated by inertial measurement unit cannot be reset. Since GPS satellite geometries change hour by hour, the precision of survey data at same position is different. This paper describes a positioning correction method using road features which are common for multiple survey data. This method references road feature coordinates extracted from high-precision data, then correct low-precision data by observing same road feature coordinates. The result of positioning of this method depends on observation errors occurred when a user selects the two coordinates. Thus, this paper also proposes an observation error reduction method calculating road feature center coordinates from 3D point clouds.
一般社団法人日本機械学会の論文
2011-05-26