A Positioning Error Compensation Method for a Mobile Measurement System Based on Plane Control
Global navigation satellite system (GNSS)/inertial navigation system (INS) navigation technology is one of the core technologies in a mobile measurement system and can provide real-time geo-referenced information. However, in the environment measurements, buildings cover up the GNSS signal, causing...
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doaj-3d3627844c4444a29d2a358a9047cefe2020-11-25T02:05:26ZengMDPI AGSensors1424-82202020-01-0120129410.3390/s20010294s20010294A Positioning Error Compensation Method for a Mobile Measurement System Based on Plane ControlBo Shi0Fan Zhang1Fanlin Yang2Yanquan Lyu3Shun Zhang4Guoyu Li5College of Geomatics, Shandong University of Science and Technology, Qingdao 266000, ChinaCollege of Geomatics, Shandong University of Science and Technology, Qingdao 266000, ChinaCollege of Geomatics, Shandong University of Science and Technology, Qingdao 266000, ChinaCollege of Geomatics, Shandong University of Science and Technology, Qingdao 266000, ChinaCollege of Geomatics, Shandong University of Science and Technology, Qingdao 266000, ChinaQingdao Xiushan Mobile Surveying Co., Ltd., Qingdao 266000, ChinaGlobal navigation satellite system (GNSS)/inertial navigation system (INS) navigation technology is one of the core technologies in a mobile measurement system and can provide real-time geo-referenced information. However, in the environment measurements, buildings cover up the GNSS signal, causing satellite signals to experience loss-of-lock. At this time errors of INS independent navigation accumulate rapidly, so it cannot meet the needs of the mobile measurement system. In this paper, a positioning error compensation method based on plane control is proposed by analyzing the error characteristics of position and orientation caused by satellite signal loss-of-lock in the urban environment. This method control uses planar features and the laser point cloud positioning equation to establish an adjustment model that ignores the influence of the attitude error and finds the positioning error at the middle point of the GNSS signal loss-of-lock time period, and then compensates for the error at other points by using the characteristics of the positioning error. The experimental results show that the accuracy of the compensated laser point cloud has been significantly improved, and the feasibility of the method is verified. Meanwhile, the method can rely on the existing building plane so the method is adaptable and easy to implement.https://www.mdpi.com/1424-8220/20/1/294position and orientationplane featuregaussian modellaser point cloud |
collection |
DOAJ |
language |
English |
format |
Article |
sources |
DOAJ |
author |
Bo Shi Fan Zhang Fanlin Yang Yanquan Lyu Shun Zhang Guoyu Li |
spellingShingle |
Bo Shi Fan Zhang Fanlin Yang Yanquan Lyu Shun Zhang Guoyu Li A Positioning Error Compensation Method for a Mobile Measurement System Based on Plane Control Sensors position and orientation plane feature gaussian model laser point cloud |
author_facet |
Bo Shi Fan Zhang Fanlin Yang Yanquan Lyu Shun Zhang Guoyu Li |
author_sort |
Bo Shi |
title |
A Positioning Error Compensation Method for a Mobile Measurement System Based on Plane Control |
title_short |
A Positioning Error Compensation Method for a Mobile Measurement System Based on Plane Control |
title_full |
A Positioning Error Compensation Method for a Mobile Measurement System Based on Plane Control |
title_fullStr |
A Positioning Error Compensation Method for a Mobile Measurement System Based on Plane Control |
title_full_unstemmed |
A Positioning Error Compensation Method for a Mobile Measurement System Based on Plane Control |
title_sort |
positioning error compensation method for a mobile measurement system based on plane control |
publisher |
MDPI AG |
series |
Sensors |
issn |
1424-8220 |
publishDate |
2020-01-01 |
description |
Global navigation satellite system (GNSS)/inertial navigation system (INS) navigation technology is one of the core technologies in a mobile measurement system and can provide real-time geo-referenced information. However, in the environment measurements, buildings cover up the GNSS signal, causing satellite signals to experience loss-of-lock. At this time errors of INS independent navigation accumulate rapidly, so it cannot meet the needs of the mobile measurement system. In this paper, a positioning error compensation method based on plane control is proposed by analyzing the error characteristics of position and orientation caused by satellite signal loss-of-lock in the urban environment. This method control uses planar features and the laser point cloud positioning equation to establish an adjustment model that ignores the influence of the attitude error and finds the positioning error at the middle point of the GNSS signal loss-of-lock time period, and then compensates for the error at other points by using the characteristics of the positioning error. The experimental results show that the accuracy of the compensated laser point cloud has been significantly improved, and the feasibility of the method is verified. Meanwhile, the method can rely on the existing building plane so the method is adaptable and easy to implement. |
topic |
position and orientation plane feature gaussian model laser point cloud |
url |
https://www.mdpi.com/1424-8220/20/1/294 |
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