TY - GEN
T1 - Position and attitude dermination for UAV-based GPS, IMU and at without GCPs
AU - Han, Joong Hee
AU - Kwon, Jay Hyoun
AU - Lee, Impyeong
AU - Choi, Kyoungah
PY - 2011
Y1 - 2011
N2 - Real-time Aerial Monitoring System performs the rapid mapping in an emergency situation so that the geoinformation could be constructed in near real time. In this system, the position/attitude information from GPS/IMU is used to perform the aerial triangulation (AT) without GCPs. The problem here is that the exterior orientation from AT highly depend on the performance of IMU. In this case, we could update the positions and attitudes of GPS/INS integration with the solution from AT in regular intervals. We simulate the GPS/IMU/Image data for an UAV-based aerial monitoring system and compare the result of GPS/INS/AT with and without EO updates from AT. Comparative analysis showed that the result from the GPS/INS/AT with EO update is more accurate than without the update. When vehicle turns, however, the position error significantly increases in the rotational direction which needs more analysis in the future.
AB - Real-time Aerial Monitoring System performs the rapid mapping in an emergency situation so that the geoinformation could be constructed in near real time. In this system, the position/attitude information from GPS/IMU is used to perform the aerial triangulation (AT) without GCPs. The problem here is that the exterior orientation from AT highly depend on the performance of IMU. In this case, we could update the positions and attitudes of GPS/INS integration with the solution from AT in regular intervals. We simulate the GPS/IMU/Image data for an UAV-based aerial monitoring system and compare the result of GPS/INS/AT with and without EO updates from AT. Comparative analysis showed that the result from the GPS/INS/AT with EO update is more accurate than without the update. When vehicle turns, however, the position error significantly increases in the rotational direction which needs more analysis in the future.
KW - Aerial triangulation
KW - EKF(extended kalma filter)
KW - GPS/IMU
KW - GPS/INS integrationt
KW - Georeferencing
KW - Real-time aerial monitoring system
KW - UAV
UR - http://www.scopus.com/inward/record.url?scp=79951764924&partnerID=8YFLogxK
U2 - 10.1109/M2RSM.2011.5697402
DO - 10.1109/M2RSM.2011.5697402
M3 - Conference contribution
AN - SCOPUS:79951764924
SN - 9781424494040
T3 - 2011 International Workshop on Multi-Platform/Multi-Sensor Remote Sensing and Mapping, M2RSM 2011
BT - 2011 International Workshop on Multi-Platform/Multi-Sensor Remote Sensing and Mapping, M2RSM 2011
T2 - 2011 International Workshop on Multi-Platform/Multi-Sensor Remote Sensing and Mapping, M2RSM 2011
Y2 - 10 January 2011 through 12 January 2011
ER -