Sensor fusion of robotic total station and inertial navigation system for 6DoF tracking applications

IF 2.3 Q2 REMOTE SENSING Applied Geomatics Pub Date : 2024-09-28 DOI:10.1007/s12518-024-00593-4
Tomas Thalmann, Hans Neuner
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Abstract

This paper presents a novel approach for sensor fusion of robotic total station (RTS) and inertial navigation system (INS) to enable 6-degree-of-freedom (6DoF) pose estimation. Tight coupling of a spherical measurement model for RTS is developed, providing advantages over the traditional cartesian 3D-position measurement model, including supporting INS solution when distance measurements are unavailable and performing outlier detection in spherical observation space. Simulation studies demonstrate that replacing Global Navigation Satellite Systems (GNSS) with RTS for fusion with INS is beneficial in any environment (given line-of-sight (LOS) availability), even under ideal GNSS conditions. Furthermore, investigations on measurement models and failure identification over the entire range of RTS measurements reveal that the spherical model is advantageous over the cartesian model in certain regions. The developed methods are validated in a practical application for tilt compensation of an RTS pole, indicating a base 2D-RMSE of 3.8 mm for almost static and almost vertical poles, increasing with tilt and velocity.

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机器人全站仪与惯性导航系统的传感器融合,用于 6DoF 跟踪应用
本文介绍了机器人全站仪(RTS)和惯性导航系统(INS)传感器融合的新方法,以实现六自由度(6DoF)姿态估计。为机器人全站仪开发了紧密耦合的球形测量模型,与传统的直角坐标三维位置测量模型相比,具有更多优势,包括在无法获得距离测量数据时支持惯性导航系统解决方案,以及在球形观测空间中执行离群点检测。仿真研究表明,即使在理想的全球导航卫星系统(GNSS)条件下,用 RTS 代替全球导航卫星系统(GNSS)与 INS 融合在任何环境下(视线(LOS)可用性)都是有益的。此外,对整个 RTS 测量范围内的测量模型和故障识别的研究表明,在某些区域,球面模型比笛卡尔模型更有优势。所开发的方法在 RTS 电极倾斜补偿的实际应用中得到了验证,表明几乎静止和几乎垂直的电极的基本 2D RMSE 为 3.8 毫米,随着倾斜和速度的增加而增加。
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来源期刊
Applied Geomatics
Applied Geomatics REMOTE SENSING-
CiteScore
5.40
自引率
3.70%
发文量
61
期刊介绍: Applied Geomatics (AGMJ) is the official journal of SIFET the Italian Society of Photogrammetry and Topography and covers all aspects and information on scientific and technical advances in the geomatics sciences. The Journal publishes innovative contributions in geomatics applications ranging from the integration of instruments, methodologies and technologies and their use in the environmental sciences, engineering and other natural sciences. The areas of interest include many research fields such as: remote sensing, close range and videometric photogrammetry, image analysis, digital mapping, land and geographic information systems, geographic information science, integrated geodesy, spatial data analysis, heritage recording; network adjustment and numerical processes. Furthermore, Applied Geomatics is open to articles from all areas of deformation measurements and analysis, structural engineering, mechanical engineering and all trends in earth and planetary survey science and space technology. The Journal also contains notices of conferences and international workshops, industry news, and information on new products. It provides a useful forum for professional and academic scientists involved in geomatics science and technology. Information on Open Research Funding and Support may be found here: https://www.springernature.com/gp/open-research/institutional-agreements
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