Pang Menglin, Tiberius Christian
Department of Geoscience and Remote Sensing, Faculty of Civil Engineering and Geosciences, Delft University of Technology, Stevinweg 1, 2628 CN DELFT, The Netherlands.
Sensors (Basel). 2020 Mar 10;20(5):1537. doi: 10.3390/s20051537.
This paper presents an approach to analyse the quality, in terms of precision and reliability, of a system which integrates-at the observation-level-landmark positions and GNSS measurements, obtained with a single camera and a digital map, and a single frequency GNSS receiver respectively. We illustrate the analysis by means of design computations, and we present the actual performance by means of a small experiment in practice. It is shown that the integration model is able to produce a position solution even when both sensors individually fail to do so. With realistic assumptions on measurement noise, the proposed integrated, low-cost system can deliver a horizontal position with a precision of better than half a meter. The external reliability of the integrated system is at the few decimetre-level, showing that the impact of undetected faults in the measurements, for instance incorrectly identified landmarks in the image, on the horizontal position is limited and acceptable, thereby confirming the fault-robustness of the system.
本文提出了一种方法，用于分析一个在观测层面整合了地标位置与全球导航卫星系统（GNSS）测量值的系统的精度和可靠性方面的质量。该系统分别通过单个相机、数字地图以及单频GNSS接收机来获取地标位置和GNSS测量值。我们通过设计计算来说明这种分析，并通过一个小型实际实验展示实际性能。结果表明，即使两个传感器单独无法得出位置解，整合模型仍能够得出位置解。基于对测量噪声的实际假设，所提出的低成本整合系统能够提供精度优于半米的水平位置。整合系统的外部可靠性处于几分米级别，这表明测量中未检测到的故障（例如图像中地标识别错误）对水平位置的影响是有限且可接受的，从而证实了该系统的故障鲁棒性。
