Investigating Practical Impacts of Using Single-Antenna and Dual-Antenna GNSS/INS Sensors in UAS-Lidar Applications

Brazeal, Ryan; Wilkinson, Benjamin; Benjamin, Adam R.

doi:10.3390/s21165382

Cited by 8 publications

(3 citation statements)

References 15 publications

(29 reference statements)

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“…Then, the heading angle ϕ GNSS U of the dual antennas can be calculated by the single baseline difference method [19] and directly output by the GNSS.…”

Section: Calibration Methods Of Installation Error Angle In Headingmentioning

confidence: 99%

Improved integrated navigation method of micro position and orientation system based on installation error angle calibration

Qu¹,

Li²,

Zhang³

2022

Meas. Sci. Technol.

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Micro Position and Orientation System (POS) is the motion compensation equipment of airborne remote sensing system, which is composed of Inertial Navigation System (INS) and Global Navigation Satellite System (GNSS) with double antennas. The INS/GNSS integrated navigation is the key technology to measure micro POS motion information. However, the installation error angle between INS and dual antennas will seriously reduce the navigation accuracy. To solve this problem, an improved integrated navigation method of micro POS based on installation error angle calibration is proposed. Firstly, the calibration method of installation error angle based on a high-precision POS and the dual antennas is presented. Then, the improved real-time navigation algorithm based on error angle compensation is established. Finally, the flight experiment results indicate that the proposed method can effectively improve the navigation accuracy compared to uncalibrated method, especially the attitude and velocity accuracies, which are improved by 36% and 27%, respectively.

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“…Then, the heading angle ϕ GNSS U of the dual antennas can be calculated by the single baseline difference method [19] and directly output by the GNSS.…”

Section: Calibration Methods Of Installation Error Angle In Headingmentioning

confidence: 99%

Improved integrated navigation method of micro position and orientation system based on installation error angle calibration

Qu¹,

Li²,

Zhang³

2022

Meas. Sci. Technol.

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“…Due to their extensive capabilities, GNSS/INS systems are primarily used in navigation and transport applications. These include tests using Unmanned Aerial Vehicles (UAV) [8][9][10] and Unmanned Surface Vehicles (USV) [11,12], locating mobile phones [13], indoor [14], terrestrial [15] and space [16] navigation, geodetic [17][18][19] and hydrographic surveys [20][21][22], operating Autonomous Ground Vehicles (AGV) [23][24][25], rail transport, in particular for the purposes of High-Speed Rail (HSR) [26,27], road transport [28][29][30] or preventing intentional interference [31,32].…”

Section: Hydrographic Surveys Are Among the Navigation Applications That Commonly Use Global Navigation Satellite Systems (Gnss) Accordinmentioning

confidence: 99%

Study on the Positioning Accuracy of GNSS/INS Systems Supported by DGPS and RTK Receivers for Hydrographic Surveys

Stateczny

Specht

et al. 2021

Energies

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Hydrographic surveys, in accordance with the International Hydrographic Organization (IHO) S-44 standard, can be carried out in the following five orders: Exclusive, Special, 1a, 1b and 2, for which minimum accuracy requirements for the applied positioning system have been set out. They are as follows, respectively: 1, 2, 5, 5 and 20 m, with a confidence level of 95% in two-dimensional space. The Global Navigation Satellite System (GNSS) network solutions (accuracy: 2–3 cm (p = 0.95)) and the Differential Global Positioning System (DGPS) (accuracy: 1–2 m (p = 0.95)) are now commonly used positioning methods in hydrography. Due to the fact that a new order of hydrographic surveys has appeared in the IHO S-44 standard from 2020—Exclusive, looking at the current positioning accuracy of the DGPS system, it is not known whether it can be used in it. The aim of this article is to determine the usefulness of GNSS/Inertial Navigation Systems (INS) for hydrographic surveys. During the research, the following two INSs were used: Ekinox2-U and Ellipse-D by the SBG Systems, which were supported by DGPS and Real Time Kinematic (RTK) receivers. GNSS/INS measurements were carried out during the manoeuvring of the Autonomous/Unmanned Surface Vehicle (ASV/USV) named “HydroDron” on Kłodno lake in Zawory. The acquired data were processed using the mathematical model that allows us to assess whether any positioning system at a given point in time meets (or not) the accuracy requirements for each IHO order. The model was verified taking into account the historical and current test results of the DGPS and RTK systems. Tests have confirmed that the RTK system meets the requirements of all the IHO orders, even in situations where it is not functioning 100% properly. Moreover, it was proven that the DGPS system does not only meet the requirements provided for the most stringent IHO order, i.e., the Exclusive Order (horizontal position error ≤ 1 m (p = 0.95)). Statistical analyses showed that it was only a few centimetres away from meeting this criterion. Therefore, it can be expected that soon it will be used in all the IHO orders.

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“…Measurements carried out indicated that the position error did not exceed 15 m. Inertial navigation systems are commonly used in navigation and transport applications. The most important of them include: tests using Autonomous Ground Vehicles (AGV) [22][23][24], Unmanned Aerial Vehicles (UAV) [25][26][27] and Unmanned Surface Vehicles (USV) [28,29]; locating mobile phones [30], indoor [31], terrestrial [32] and space [33]; navigation, geodetic [34][35][36] and hydrographic surveys [37][38][39]; and rail transport [40,41] and road transport [42][43][44]. Moreover, they are used in the case of preventing intentional interference [45,46] and in urban areas in which the multipath effect occurs [47][48][49].…”

Section: Introductionmentioning

confidence: 99%

Study on the Positioning Accuracy of the GNSS/INS System Supported by the RTK Receiver for Railway Measurements

Specht

Stateczny

et al. 2022

Energies

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Currently, the primary method for determining the object coordinates is positioning using Global Navigation Satellite Systems (GNSS) supported by Inertial Navigation Systems (INS). The main goal of this solution is to ensure high positioning availability, particularly when access to satellite signals is limited (in tunnels, areas with densely concentrated buildings and in forest areas). The aim of this article is to determine whether the GNSS/INS system supported by the RTK receiver is suitable for the implementation of selected geodetic and construction tasks in railway engineering, such as determining the place and extent of rail track deformations (1 cm (p = 0.95)), the process of a rapid stocktaking of existing rail tracks (3 cm (p = 0.95)) and for design and construction works (10 cm (p = 0.95)), as well as what the impact of various terrain obstacles have on the obtained positioning accuracy of the tested system. During the research, one INS was used, the Ekinox2-U by the SBG Systems, which was supported by the Real-Time Kinematic (RTK) receiver. GNSS/INS measurements were conducted on three representative sections varying in terms of terrain obstacles that limit the access to satellite signals during mobile railway measurements in Tricity (Poland). The acquired data allowed us to calculate the basic position accuracy measures that are commonly used in navigation and transport applications. On this basis, it was concluded that the Ekinox2-U system can satisfy the positioning accuracy requirements for rapid stocktaking of existing rail tracks (3 cm (p = 0.95)), as well as for design and construction works (10 cm (p = 0.95)). On the other hand, the system cannot be used to determine the place and extent of rail track deformations (1 cm (p = 0.95)).

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Investigating Practical Impacts of Using Single-Antenna and Dual-Antenna GNSS/INS Sensors in UAS-Lidar Applications

Cited by 8 publications

References 15 publications

Improved integrated navigation method of micro position and orientation system based on installation error angle calibration

Improved integrated navigation method of micro position and orientation system based on installation error angle calibration

Study on the Positioning Accuracy of GNSS/INS Systems Supported by DGPS and RTK Receivers for Hydrographic Surveys

Study on the Positioning Accuracy of the GNSS/INS System Supported by the RTK Receiver for Railway Measurements

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