Department of Geomatics, National Cheng-Kung University, No.1, University Road, Tainan 701, Taiwan.
Sensors (Basel). 2011;11(7):7243-61. doi: 10.3390/s110707243. Epub 2011 Jul 18.
A land-based mobile mapping system (MMS) is flexible and useful for the acquisition of road environment geospatial information. It integrates a set of imaging sensors and a position and orientation system (POS). The positioning quality of such systems is highly dependent on the accuracy of the utilized POS. This limitation is the major drawback due to the elevated cost associated with high-end GPS/INS units, particularly the inertial system. The potential accuracy of the direct sensor orientation depends on the architecture and quality of the GPS/INS integration process as well as the validity of the system calibration (i.e., calibration of the individual sensors as well as the system mounting parameters). In this paper, a novel single-step procedure using integrated sensor orientation with relative orientation constraint for the estimation of the mounting parameters is introduced. A comparative analysis between the proposed single-step and the traditional two-step procedure is carried out. Moreover, the estimated mounting parameters using the different methods are used in a direct geo-referencing procedure to evaluate their performance and the feasibility of the implemented system. Experimental results show that the proposed system using single-step system calibration method can achieve high 3D positioning accuracy.
一种基于陆地的移动测绘系统（MMS）在获取道路环境地理空间信息方面具有灵活性和实用性。它集成了一组成像传感器和一个位置与姿态系统（POS）。这种系统的定位质量高度依赖于所使用的 POS 的精度。由于与高端 GPS/INS 单元相关的成本较高，特别是惯性系统，这一限制是主要的缺点。直接传感器定向的潜在精度取决于 GPS/INS 集成过程的架构和质量以及系统校准的有效性（即，单个传感器的校准以及系统安装参数）。本文提出了一种使用集成传感器定向和相对定向约束的新的单步方法，用于估计安装参数。对所提出的单步方法和传统的两步方法进行了比较分析。此外，使用不同方法估计的安装参数用于直接地理参考过程，以评估其性能和所实现系统的可行性。实验结果表明，使用单步系统校准方法的建议系统可以实现高精度的 3D 定位。
