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A Positioning Error Compensation Method for a Mobile Measurement System Based on Plane Control

机译：基于平面控制的移动测量系统定位误差补偿方法

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摘要

Global navigation satellite system (GNSS)/inertial navigation system (INS) navigation technology is one of the core technologies in a mobile measurement system and can provide real-time geo-referenced information. However, in the environment measurements, buildings cover up the GNSS signal, causing satellite signals to experience loss-of-lock. At this time errors of INS independent navigation accumulate rapidly, so it cannot meet the needs of the mobile measurement system. In this paper, a positioning error compensation method based on plane control is proposed by analyzing the error characteristics of position and orientation caused by satellite signal loss-of-lock in the urban environment. This method control uses planar features and the laser point cloud positioning equation to establish an adjustment model that ignores the influence of the attitude error and finds the positioning error at the middle point of the GNSS signal loss-of-lock time period, and then compensates for the error at other points by using the characteristics of the positioning error. The experimental results show that the accuracy of the compensated laser point cloud has been significantly improved, and the feasibility of the method is verified. Meanwhile, the method can rely on the existing building plane so the method is adaptable and easy to implement.
机译：全球导航卫星系统（GNSS）/惯性导航系统（INS）导航技术是在移动测量系统的核心技术之一，并且可以提供实时的地理参考信息。然而，在环境测量，建筑物掩盖了GNSS信号，导致卫星信号来体验失锁。这时INS导航无关的错误迅速累积，所以不能满足移动测量系统的需求。在本文中，基于控制平面的定位误差补偿方法，提出了通过分析位置和定向误差特性造成的卫星信号失锁在城市环境。此方法控制的用途平面特征，并且激光点云定位方程建立忽略姿态误差的影响，并在所述GNSS信号失锁定时间周期的中间点发现定位误差，然后补偿的调节模型用于通过使用所述定位误差的特性在其它点处的误差。实验结果表明，该补偿后的激光点群的准确度已经显著改善，并且该方法的可行性进行了验证。同时，该方法可以依托现有的建筑平面，该方法具有适应性和易于实现。

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