HIGGINS - A Fast Kinematic Surveying System based on Satellite, Inertial, and Laser Technology

Andreas Mathes and Erwin Groten

Abstract:	A new conception of an integrated surveying system is presented. The system HIGGINS (Hybrid INS-GPS- GLONASS KINematic System) uses the latest technology to allow kinematic positioning at a very high sampling rate. Mounted on a van, HIGGINS was designed to survey highways and other roads while in motion. The used sensors are 2 GPS receivers, a combined GPS/GLONASS receiver, an inertial navigation system (INS), a laser distance measurement unit and a digital camera for target-seeking. For each 50 Hz observation epoch the 3-D position of the laser's footprint is computed. Besides the conception and its realization the algorithms for GPS/GLONASS position computation while in motion, the integration of the satellite receivers, the INS, and the laser by means of Kalman filtering, the problems of losses-of-lock and the influence of surrounding traffic are presented. Moreover, the calibration of the laser equipment and the achievable accuracy of measuring single points and trajectories using the digital camera and a small monitor for the driver are discussed. Additionally, the problems of planning a kinematic survey are outlined and a solution to overcome this is presented. First tests showed the desired accuracies of 5 cm in height and 5-10 cm in position. Based on these results the next steps of improving the 3-D accuracy and availability are outlined.
Published in:	Proceedings of the 10th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GPS 1997) September 16 - 19, 1997 Kansas City, MO
Pages:	901 - 908
Cite this article:	Mathes, Andreas, Groten, Erwin, "HIGGINS - A Fast Kinematic Surveying System based on Satellite, Inertial, and Laser Technology," Proceedings of the 10th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GPS 1997), Kansas City, MO, September 1997, pp. 901-908.
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