Development and Evaluation of GNSS/INS Data Processing Software
Currently there is less mature and reliable commercial software for GNSS/INS data processing in China. Relevant users have to rely on foreign software, e.g., POSPac and Inertial Explorer (IE). This has become one of the bottle-neck of applying GNSS/INS te
- PDF / 2,321,948 Bytes
- 12 Pages / 439.37 x 666.142 pts Page_size
- 23 Downloads / 186 Views
Development and Evaluation of GNSS/INS Data Processing Software Quan Zhang, Xiaoji Niu, Linlin Gong, Hongping Zhang, Chuang Shi, Chuanchuan Liu, Jun Wang and Matthew Coleman
Abstract Currently there is less mature and reliable commercial software for GNSS/INS data processing in China. Relevant users have to rely on foreign software, e.g., POSPac and Inertial Explorer (IE). This has become one of the bottle-neck of applying GNSS/INS technology to survey and mapping areas in China. This paper introduces newly developed GNSS/INS data processing software—Cinertial. In the design of the algorithm, the local level frame is chosen as the reference frame; and the rotation vector is applied for the attitude update. The GNSS and INS information are fused by a Kalman filtering based on 21-dimensional error states vector. Moreover, Rauch-Tung-Striebel (RTS) backward smoothing algorithm is applied in the software to help ensure the best possible accuracies. The correctness of the developed software is tested and evaluated by the airborne and terrestrial datasets compare to IE and POSPac. The results show that Cinertial can reach the same level of the navigation accuracy as foreign commercial software.
Keywords GNSS/INS Kalman filtering (POS) Data processing software
Position and Orientation System
Q. Zhang (&) X. Niu (&) L. Gong H. Zhang C. Shi GNSS Research Center, Wuhan University, Wuhan 430079, China e-mail: [email protected] X. Niu e-mail: [email protected] C. Liu CSR, Shanghai 201206, China J. Wang M. Coleman ROAMES Group, Ergon Energy Corp Ltd, Level 2, Waterfront Place, 1 Eagle St, Brisbane, QLD 4000, Australia
J. Sun et al. (eds.), China Satellite Navigation Conference (CSNC) 2013 Proceedings, Lecture Notes in Electrical Engineering 245, DOI: 10.1007/978-3-642-37407-4_63, Ó Springer-Verlag Berlin Heidelberg 2013
685
686
Q. Zhang et al.
63.1 Introduction GPS/INS integrated systems can provide accurate and reliable navigation information (including position, velocity and attitude) using a Kalman filter, and significantly improve positioning continuity compared to the individual GPS or INS. However, the navigation accuracy of the real-time solution can not meet the requirement of some applications. Applications of mobile mapping and aerial photogrammetry require high accuracy navigation information in post-mission provided by Position and Orientation System (POS). GNSS/INS data processing software can provide the navigation results of high reliability and accuracy to meet the requirements. Post-processing methods (e.g., backward smoothing) can also be applied in the GNSS/INS data processing software to further improve the navigation accuracy [1, 2]. Currently there is less mature and reliable software for GNSS/INS data processing in China. Relevant users have to rely on foreign software, e.g., POSPac from Applanix Corp. and Inertial Explorer (IE) from NovAtel Inc. This has become one of the bottle-neck of applying GNSS/INS technology to survey and mapping areas in China. This paper introduces
Data Loading...
