Simulation of Test Scenarios for Multi-Sensor Mobile Mapping Systems

Rouven Borchert, Brigitte Gundlich, Heiner Kuhlmann

Peer Reviewed

Abstract:	The quality of mobile mapping using multi-sensor systems depends on miscellaneous factors and defines the field of application of the mapping system. Quantity and quality of sensors, their calibration, and synchronization and of course their interaction in the complete system characterize the system. Data analysis and data fusion also influence the quality of mobile mapping. Given environmental conditions are additional factors. In case of land-based mobile systems an essential environmental factor is the shadowing of GNSS signals. Defining quality criteria for mobile mapping systems and comparing multi-sensor systems can be challenging. In this context a simulation framework is developed to analyze multi-sensor systems in a specific environment. In a modular setup various sensors are simulated and combined to a multisensory system. Besides simulating the sensors in their constellation, environmental information is also put in the simulation model. In this contribution we simulate an IMU/GNSS navigation system. We focus especially on a realistic setting that considers the limiting factor of shadowed GNSS signals. GNSS RINEX observations in a free sky scenario are simulated using the Bernese GNSS software. GNSS shadowing masks are drawn from a Digital Surface Model to eliminate shadowed GNSS signals. An IMU simulation tool completes the simulation toolbox for navigation. We demonstrate the functionality of the basic simulation tool for navigation and present an example that basis upon real measurements. We test the plausibility of the simulation by comparing simulated results with the real data results in an overall test.
Published in:	Proceedings of the 32nd International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2019) September 16 - 20, 2019 Hyatt Regency Miami Miami, Florida
Pages:	3141 - 3152
Cite this article:	Borchert, Rouven, Gundlich, Brigitte, Kuhlmann, Heiner, "Simulation of Test Scenarios for Multi-Sensor Mobile Mapping Systems," Proceedings of the 32nd International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2019), Miami, Florida, September 2019, pp. 3141-3152. https://doi.org/10.33012/2019.17017
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