ON RAW INERTIAL MEASUREMENTS IN DYNAMIC NETWORKS
Dynamic Networks have been introduced in the literature to solve multi-sensor fusion problems for navigation and mapping. They have been shown to outperform conventional methods in challenging scenarios, such as corridor mapping or self-calibration. In this work we investigate the problem of how raw...
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| Format: | Article |
| Language: | English |
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Copernicus Publications
2019-05-01
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| Series: | ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences |
| Online Access: | https://www.isprs-ann-photogramm-remote-sens-spatial-inf-sci.net/IV-2-W5/549/2019/isprs-annals-IV-2-W5-549-2019.pdf |
| _version_ | 1828481206820274176 |
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| author | D. A. Cucci J. Skaloud |
| author_facet | D. A. Cucci J. Skaloud |
| author_sort | D. A. Cucci |
| collection | DOAJ |
| description | Dynamic Networks have been introduced in the literature to solve multi-sensor fusion problems for navigation and mapping. They have been shown to outperform conventional methods in challenging scenarios, such as corridor mapping or self-calibration. In this work we investigate the problem of how raw inertial readings can be fused with GNSS position observations in Dynamic Networks (DN) with the goal of i) limiting the number of unknowns in the estimation problem and ii) improving the conditioning of the normal equations arising in least-squares adjustments in the absence of spatial constraints (e.g., image observations). For that we propose a modified version of the well known IMU-preintegration method, accounting for a non-constant gravity model, the Earth rotation and the apparent Coriolis force, and we compare it with the conventional DN formulation in a emulated scenario. This consists of a fixed-wing UAV flying four times over a 2 km long corridor. |
| first_indexed | 2024-12-11T07:52:38Z |
| format | Article |
| id | doaj.art-3ebc1a496da04f48b24f879569d0511d |
| institution | Directory Open Access Journal |
| issn | 2194-9042 2194-9050 |
| language | English |
| last_indexed | 2024-12-11T07:52:38Z |
| publishDate | 2019-05-01 |
| publisher | Copernicus Publications |
| record_format | Article |
| series | ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences |
| spelling | doaj.art-3ebc1a496da04f48b24f879569d0511d2022-12-22T01:15:18ZengCopernicus PublicationsISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences2194-90422194-90502019-05-01IV-2-W554955710.5194/isprs-annals-IV-2-W5-549-2019ON RAW INERTIAL MEASUREMENTS IN DYNAMIC NETWORKSD. A. Cucci0J. Skaloud1Geodetic Engineering Laboratory, EPFL, Bâtiment GC - Station 18 - Lausanne, SwitzerlandGeodetic Engineering Laboratory, EPFL, Bâtiment GC - Station 18 - Lausanne, SwitzerlandDynamic Networks have been introduced in the literature to solve multi-sensor fusion problems for navigation and mapping. They have been shown to outperform conventional methods in challenging scenarios, such as corridor mapping or self-calibration. In this work we investigate the problem of how raw inertial readings can be fused with GNSS position observations in Dynamic Networks (DN) with the goal of i) limiting the number of unknowns in the estimation problem and ii) improving the conditioning of the normal equations arising in least-squares adjustments in the absence of spatial constraints (e.g., image observations). For that we propose a modified version of the well known IMU-preintegration method, accounting for a non-constant gravity model, the Earth rotation and the apparent Coriolis force, and we compare it with the conventional DN formulation in a emulated scenario. This consists of a fixed-wing UAV flying four times over a 2 km long corridor.https://www.isprs-ann-photogramm-remote-sens-spatial-inf-sci.net/IV-2-W5/549/2019/isprs-annals-IV-2-W5-549-2019.pdf |
| spellingShingle | D. A. Cucci J. Skaloud ON RAW INERTIAL MEASUREMENTS IN DYNAMIC NETWORKS ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences |
| title | ON RAW INERTIAL MEASUREMENTS IN DYNAMIC NETWORKS |
| title_full | ON RAW INERTIAL MEASUREMENTS IN DYNAMIC NETWORKS |
| title_fullStr | ON RAW INERTIAL MEASUREMENTS IN DYNAMIC NETWORKS |
| title_full_unstemmed | ON RAW INERTIAL MEASUREMENTS IN DYNAMIC NETWORKS |
| title_short | ON RAW INERTIAL MEASUREMENTS IN DYNAMIC NETWORKS |
| title_sort | on raw inertial measurements in dynamic networks |
| url | https://www.isprs-ann-photogramm-remote-sens-spatial-inf-sci.net/IV-2-W5/549/2019/isprs-annals-IV-2-W5-549-2019.pdf |
| work_keys_str_mv | AT dacucci onrawinertialmeasurementsindynamicnetworks AT jskaloud onrawinertialmeasurementsindynamicnetworks |