Landmark Surveying Using an Integrated Camera, Carrier-Phase DGPS, and Inertial Navigation System

Anh Vu, Jay Farrell, and Matthew Barth

Abstract:	Real-time lane-level positioning of vehicles, using mapped landmarks can greatly improve GPS and inertial-based positioning systems in terms of accuracy, integrity, and continuity. Mapped landmarks (e.g. earth-fixed points, curves, and surfaces) can be used in sensor-aided Inertial Navigation Systems (INS) when known (i.e., mapped) landmarks are reliably detected. A variety of sensors are available whose measurements can be utilized to correct the INS state vector. These landmarks are often deconstructed into points where the points making up a landmark have to be surveyed accurately down to the centimeter or millimeter level with respect to a reference frame attached to the earth. Spatial constraints (due to height, angle, and satellite signal blockage) around landmarks may make them particularly difficult to survey. Landmarks. For example, traffic lights, as well as visual features on buildings, etc. are high above the ground. Traditional manual survey methods can be relatively expensive. This paper introduces a semi-automated method that combines information from camera, Carrier-phase Differential Global Positioning System (CDGPS), and inertial measurements to survey landmark locations. Experimental results from real world data show the feasibility of this method.
Published in:	Proceedings of the 24th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2011) September 20 - 23, 2011 Oregon Convention Center, Portland, Oregon Portland, OR
Pages:	2287 - 2295
Cite this article:	Vu, Anh, Farrell, Jay, Barth, Matthew, "Landmark Surveying Using an Integrated Camera, Carrier-Phase DGPS, and Inertial Navigation System," Proceedings of the 24th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2011), Portland, OR, September 2011, pp. 2287-2295.
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