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Sensors 2014, 14(11), 20866-20881; doi:10.3390/s141120866

Accuracy Assessment of the Integration of GNSS and a MEMS IMU in a Terrestrial Platform

1,†,* , 2,†
,
2,3,†
and
2,3,†
1
University of Trás-os-Montes e Alto Douro, Vila Real 5000-801, Portugal; INESC-TEC - Technology and Science, Rua Dr. Roberto Frias, 4200-465 Porto, Portugal
2
Department of Geosciences Environment and Spatial Planning, Faculty of Science, University of Porto, Rua Campo Alegre 687, Porto 4169-007, Portugal
3
CIIMAR/CIMAR, University of Porto, Rua dos Bragas 289, Porto 4050-123, Portugal
These authors contributed equally to this work.
*
Author to whom correspondence should be addressed.
Received: 14 August 2014 / Revised: 22 October 2014 / Accepted: 25 October 2014 / Published: 4 November 2014
(This article belongs to the Section Physical Sensors)

Abstract

MEMS Inertial Measurement Units are available at low cost and can replace expensive units in mobile mapping platforms which need direct georeferencing. This is done through the integration with GNSS measurements in order to achieve a continuous positioning solution and to obtain orientation angles. This paper presents the results of the assessment of the accuracy of a system that integrates GNSS and a MEMS IMU in a terrestrial platform. We describe the methodology used and the tests realized where the accuracy of the positions and orientation parameters were assessed using an independent photogrammetric technique employing cameras that integrate the mobile mapping system developed by the authors. Results for the accuracy of attitude angles and coordinates show that accuracies better than a decimeter in positions, and under a degree in angles, can be achieved even considering that the terrestrial platform is operating in less than favorable environments. View Full-Text
Keywords: Mobile Mapping System; Global Navigation Satellite Systems; Inertial Navigation System; GNSS/IMU Mobile Mapping System; Global Navigation Satellite Systems; Inertial Navigation System; GNSS/IMU
This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).

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MDPI and ACS Style

Madeira, S.; Yan, W.; Bastos, L.; Gonçalves, J.A. Accuracy Assessment of the Integration of GNSS and a MEMS IMU in a Terrestrial Platform. Sensors 2014, 14, 20866-20881.

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