使用重复轨道边界测量的轨迹评估

IF 1.2 Q4 REMOTE SENSING Journal of Applied Geodesy Pub Date : 2023-02-06 DOI:10.1515/jag-2022-0027
Gereon Tombrink, Ansgar Dreier, L. Klingbeil, H. Kuhlmann
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引用次数: 0

摘要

摘要当今的许多应用需要精确确定移动平台随时间的位置和方向。然而,特别是在安全关键领域,推导轨迹估计的质量特征也很重要。这允许验证传感器是否在应用所需的精度和准确性范围内运行。在本文中,我们提出了一种轨迹评估方法,并解决了所涉及的挑战。我们的方法基于使用闭环轨道获得的重复测量,并允许在精度和准确性方面评估轨迹估计。从按时间顺序排列的原始数据开始,该方法首先对测量值进行空间排序,然后将其近似为平均轨迹。单个姿态观测值与平均轨迹之间的偏差表示观测到的姿态的精度。通过添加高阶参考,我们的方法也确定了被测系统的准确性。通过对低成本惯性导航系统的示例性评估,证明了我们方法的适用性。
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Trajectory evaluation using repeated rail-bound measurements
Abstract Many applications today require the precise determination of the position and orientation of a moving platform over time. However, especially in safety-critical areas, it is also important to derive quality characteristics of the trajectory estimation. This allows verification that sensors are operating within the precision and accuracy required for the application. In this paper, we propose a methodology for trajectory evaluation and address the challenges involved. Our approach is based on repeated measurements obtained using a closed loop rail track and allows the evaluation of the trajectory estimation in terms of precision and accuracy. Starting with the chronologically ordered raw data, the methodology first spatially sorts the measurements and then approximates them to a mean trajectory. The deviations between the single pose observations and the mean trajectory indicate the precision of the observed poses. With the addition of a higher-order reference, our methodology also determines the accuracy of the system under test. The applicability of our method is demonstrated by an exemplary evaluation of a low-cost inertial navigation system.
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来源期刊
Journal of Applied Geodesy
Journal of Applied Geodesy REMOTE SENSING-
CiteScore
2.30
自引率
7.10%
发文量
30
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