Madeira Sergio, Yan Wenlin, Bastos Luísa, Gonçalves José A
University of Trás-os-Montes e Alto Douro, Vila Real 5000-801, Portugal; INESC-TEC - Technology and Science, Rua Dr. Roberto Frias, 4200-465 Porto, Portugal.
Department of Geosciences Environment and Spatial Planning, Faculty of Science, University of Porto, Rua Campo Alegre 687, Porto 4169-007, Portugal.
Sensors (Basel). 2014 Nov 4;14(11):20866-81. doi: 10.3390/s141120866.
MEMS Inertial Measurement Units are available at low cost and can replace expensive units in mobile mapping platforms which need direct georeferencing. This is done through the integration with GNSS measurements in order to achieve a continuous positioning solution and to obtain orientation angles. This paper presents the results of the assessment of the accuracy of a system that integrates GNSS and a MEMS IMU in a terrestrial platform. We describe the methodology used and the tests realized where the accuracy of the positions and orientation parameters were assessed using an independent photogrammetric technique employing cameras that integrate the mobile mapping system developed by the authors. Results for the accuracy of attitude angles and coordinates show that accuracies better than a decimeter in positions, and under a degree in angles, can be achieved even considering that the terrestrial platform is operating in less than favorable environments.
微机电系统惯性测量单元成本低廉，可取代移动测绘平台中需要直接地理参考的昂贵单元。这是通过与全球导航卫星系统（GNSS）测量相结合来实现的，以便获得连续定位解决方案并获取方位角。本文展示了在地面平台上集成GNSS和微机电系统惯性测量单元（MEMS IMU）的系统精度评估结果。我们描述了所使用的方法以及进行的测试，其中利用作者开发的集成了移动测绘系统的相机，通过独立摄影测量技术评估位置和方位参数的精度。姿态角和坐标的精度结果表明，即使考虑到地面平台在不太理想的环境中运行，也能实现位置精度优于分米级、角度精度低于一度的结果。
