Abstract
Real-time Aerial Monitoring System. (RAMS) is to perform the rapid mapping in an emergency situation so that the geoinformation such as orthophoto and/or Digital Elevation Model is constructed in near real time. In this system, the GPS/INS plays an very important role in providing the position as well as the attitude information. Therefore, in this study, the performance of an IMU sensor which is supposed to be installed on board the RAMS is evaluated. And the integration algorithm of GPS/INS are tested with simulated dataset to find out which is more appropriate in real time mapping. According to the static and kinematic results, the sensor shows the position error of 3∼4m and 2∼3m, respectively. Also, it was verified that the sensor performs better on the attitude when the magnetic field sensor are used in the Aerospace mode. In the comparison, of EKF and UKF, the overall, performances shows not much differences in straight as well as in curved trajectory. However, the calculation time in EKF was appeared about 25 times faster than that of UKF, thus EKF seems to be the better selection in RAMS.
| Original language | English |
|---|---|
| Pages (from-to) | 225-234 |
| Number of pages | 10 |
| Journal | Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography |
| Volume | 27 |
| Issue number | 2 |
| State | Published - Apr 2009 |
Keywords
- EKF(Extended kalman filter)
- MEMS IMU
- Real-time aerial monitoring system
- UKF(Unscented kalman filter)