Details
| Original language | English |
|---|---|
| Pages (from-to) | 229-247 |
| Number of pages | 19 |
| Journal | PFG - Journal of Photogrammetry, Remote Sensing and Geoinformation Science |
| Volume | 87 |
| Issue number | 5-6 |
| Early online date | 30 Oct 2019 |
| Publication status | Published - Dec 2019 |
Abstract
In engineering geodesy, the technical progress leads to various kinds of multi-sensor systems (MSS) capturing the environment. Multi-sensor systems, especially those mounted on unmanned aerial vehicles, subsequently called unmanned aerial system (UAS), have emerged in the past decade. Georeferencing for MSS and UAS is an indispensable task to obtain further products of the data captured. Georeferencing comprises at least the determination of three translations and three rotations. The availability and accuracy of Global Navigation Satellite System (GNSS) receivers, inertial measurement units, or other sensors for georeferencing is not or not constantly given in urban scenarios. Therefore, we utilize UAS-based laser scanner measurements on building facades. The building latter are modeled as planes in a three-dimensional city model. We determine the trajectory of the UAS by combining the laser scanner measurements with the plane parameters. The resulting implicit measurement equations and nonlinear equality constraints are covered within an iterated extended Kalman filter (IEKF). We developed a software simulation for testing the IEKF using different scenarios to evaluate the functionality, performance, strengths, and remaining challenges of the IEKF implemented.
Keywords
- 3D city model, Equality constraint, Implicit measurement equation, Iterated extended Kalman filter, Laser scanner measurements, Unmanned aerial system
ASJC Scopus subject areas
- Social Sciences(all)
- Geography, Planning and Development
- Physics and Astronomy(all)
- Instrumentation
- Earth and Planetary Sciences(all)
- Earth and Planetary Sciences (miscellaneous)
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In: PFG - Journal of Photogrammetry, Remote Sensing and Geoinformation Science, Vol. 87, No. 5-6, 12.2019, p. 229-247.
Research output: Contribution to journal › Article › Research › peer review
}
TY - JOUR
T1 - Georeferencing of an Unmanned Aerial System by Means of an Iterated Extended Kalman Filter Using a 3D City Model
AU - Bureick, Johannes
AU - Vogel, Sören
AU - Neumann, Ingo
AU - Unger, Jakob
AU - Alkhatib, Hamza
N1 - Funding Information: This work was funded by the Deutsche Forschungsgemeinschaft (DFG, German Research Foundation)—NE 1453/5-1, HE 1822/37-1, and as part of the Research Training Group i.c.sens [RTG 2159]. The computations were performed by the compute cluster, which is funded by the Leibniz University Hannover, the Lower Saxony Ministry of Science and Culture (MWK), and DFG.
PY - 2019/12
Y1 - 2019/12
N2 - In engineering geodesy, the technical progress leads to various kinds of multi-sensor systems (MSS) capturing the environment. Multi-sensor systems, especially those mounted on unmanned aerial vehicles, subsequently called unmanned aerial system (UAS), have emerged in the past decade. Georeferencing for MSS and UAS is an indispensable task to obtain further products of the data captured. Georeferencing comprises at least the determination of three translations and three rotations. The availability and accuracy of Global Navigation Satellite System (GNSS) receivers, inertial measurement units, or other sensors for georeferencing is not or not constantly given in urban scenarios. Therefore, we utilize UAS-based laser scanner measurements on building facades. The building latter are modeled as planes in a three-dimensional city model. We determine the trajectory of the UAS by combining the laser scanner measurements with the plane parameters. The resulting implicit measurement equations and nonlinear equality constraints are covered within an iterated extended Kalman filter (IEKF). We developed a software simulation for testing the IEKF using different scenarios to evaluate the functionality, performance, strengths, and remaining challenges of the IEKF implemented.
AB - In engineering geodesy, the technical progress leads to various kinds of multi-sensor systems (MSS) capturing the environment. Multi-sensor systems, especially those mounted on unmanned aerial vehicles, subsequently called unmanned aerial system (UAS), have emerged in the past decade. Georeferencing for MSS and UAS is an indispensable task to obtain further products of the data captured. Georeferencing comprises at least the determination of three translations and three rotations. The availability and accuracy of Global Navigation Satellite System (GNSS) receivers, inertial measurement units, or other sensors for georeferencing is not or not constantly given in urban scenarios. Therefore, we utilize UAS-based laser scanner measurements on building facades. The building latter are modeled as planes in a three-dimensional city model. We determine the trajectory of the UAS by combining the laser scanner measurements with the plane parameters. The resulting implicit measurement equations and nonlinear equality constraints are covered within an iterated extended Kalman filter (IEKF). We developed a software simulation for testing the IEKF using different scenarios to evaluate the functionality, performance, strengths, and remaining challenges of the IEKF implemented.
KW - 3D city model
KW - Equality constraint
KW - Implicit measurement equation
KW - Iterated extended Kalman filter
KW - Laser scanner measurements
KW - Unmanned aerial system
UR - http://www.scopus.com/inward/record.url?scp=85074706572&partnerID=8YFLogxK
U2 - 10.1007/s41064-019-00084-x
DO - 10.1007/s41064-019-00084-x
M3 - Article
AN - SCOPUS:85074706572
VL - 87
SP - 229
EP - 247
JO - PFG - Journal of Photogrammetry, Remote Sensing and Geoinformation Science
JF - PFG - Journal of Photogrammetry, Remote Sensing and Geoinformation Science
SN - 2512-2789
IS - 5-6
ER -