Browse > Article

Determinate Real-Time Position and Attitude using GPS/INS/AT for Real-time Aerial Monitoring System  

Han, Joong-Hee (서울시립대학교 공간정보공학과)
Kwon, Jay-Hyoun (서울시립대학교 공간정보공학과)
Lee, Im-Pyeong (서울시립대학교 공간정보공학과)
Choi, Kyoung-Ah (서울시립대학교 공간정보공학과)
Publication Information
Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography / v.28, no.5, 2010 , pp. 531-537 More about this Journal
Abstract
Real-time Aerial Monitoring System performs the rapid mapping in an emergency situation so that the geoinformation could be constructed in near real time. In this system, the position and attitude information from GPS/INS integration algorithm is used to perform the aerial triangulation(AT) without GCPs. Therefore, if we obtain Exterior Orientation(EO) estimates from AT sequentially, EO are used as the measurements in the Kalman filter. In this study, we simulate the GPS/IMS/Image data for an UAV-based aerial monitoring system and compare the GPS/INS/AT with and without from AT. Comparative analysis showed that result from the GPS/INS/AT with EO update is more accurate than without the update. However, when the vehicle turns, the position error significantly increases which need more analysis in the future.
Keywords
Real-time Aerial Monitoring System; GPS/INS/AT Integration; Kalman Filter; AT without GCPs; UAV;
Citations & Related Records
Times Cited By KSCI : 2  (Citation Analysis)
연도 인용수 순위
1 최경아, 이임평 (2009), UAV 기반 저가 멀티센서시스템을 위한 무기준점 AT를 이용한 영상의 Georeferencing, 한국측량학회지, 제 27권, 2호, pp. 249-260.   과학기술학회마을
2 Chris McGlone (2004), Manual of Photogrammetry, 5th Edition, ASPRS, Bethesda, Maryland, US, pp. 847-870.
3 Grewal, M.S., Weill, L.R., Andrews A.P. (2007), Global Positioning System, Inertial Navigation, and Integration, John Wiley & Sons, New Jersey, pp. 255-313.
4 Jekeli, C. (2000), Inertial navigation system with geodetic applications, Walter de Gruyter INC., Berlin, pp. 197-237
5 Simon, D. (2006), Optimal State Estimation, John Wiley & Sons, INC, pp.79-105.
6 Schwarz, K. P., Wei, M., and Gelderen, M. V. (1994), Aided versus embedded: A comparison of two approaches to GPS/INS integration, In Proceedings of IEEE PLANS 94, pp. 314-321.
7 이원진, 권재현, 이종기, 한중희 (2009), 실시간 공중 자료획득 시스템을 위한 GPS/MEMS IMU 센서 검증 및 GPS/INS 통합 알고리즘, 한국측량학회지, 제 27권, 2호, pp. 225-234.   과학기술학회마을