- Article
Enhancing GNSS-INS-Based Surveying with Time of Flight Cameras
- Amna Qayyum,
- Joël Bachmann and
- David Eugen Grimm
Rapid advancements in surveying technology have necessitated the development of more accurate and efficient tools. Leica Geosystems AG (Heerbrugg, Switzerland), a leading provider of measurement and surveying solutions, has initiated a study to enhance the capabilities of its GNSS INS-based surveying systems. This research focuses on integrating the Leica GS18 I GNSS receiver and the AP20 AutoPole with a Time of Flight (ToF) camera through sensor fusion. The primary objective is to leverage the unique strengths of each device to improve accuracy, efficiency, and usability in challenging surveying environments. Results indicate that the fused AP20 configuration achieves decimetre-level accuracy (2.7–4.4 cm on signalized points; 5.2–20.0 cm on natural features). In contrast, the GS18 I fused configuration shows significantly higher errors (17.5–26.6 cm on signalized points; 16.1–69.4 cm on natural features), suggesting suboptimal spatio-temporal fusion. These findings confirm that the fused AP20 configuration demonstrates superior accuracy in challenging GNSS conditions compared to the GS18 I setup with deviations within acceptable limits for most practical applications, while highlighting the need for further refinement of the GS18 I configuration.
16 December 2025


![Leica GS18 I: (a) top view. (b) front view with the built-in camera. (c) side view showing the battery compartment and the services panel. (Source: [17]).](/_ipx/b_%23fff&f_webp&q_100&fit_outside&s_470x317/https://mdpi-res.com/metrology/metrology-05-00078/article_deploy/html/images/metrology-05-00078-g001-550.jpg)

