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Centimetric absolute localization using Unmanned Aerial Vehicles with airborne photogrammetry and on-board GPS / Mehdi Daakir (2017)
Titre : Centimetric absolute localization using Unmanned Aerial Vehicles with airborne photogrammetry and on-board GPS Type de document : Thèse/HDR Auteurs : Mehdi Daakir , Auteur ; Marc Pierrot-Deseilligny , Directeur de thèse Editeur : Champs/Marne : Université Paris-Est Année de publication : 2017 Importance : 195 p. Format : 21 x 30 cm Note générale : Bibliographie
Thèse de Doctorat pour obtenir le grade de Docteur de l'Université Paris-Est, Signal, Image & AutomatiqueLangues : Anglais (eng) Descripteur : [Vedettes matières IGN] Photogrammétrie numérique
[Termes IGN] effet thermique
[Termes IGN] étalonnage d'instrument
[Termes IGN] géoréférencement
[Termes IGN] image captée par drone
[Termes IGN] instrument embarqué
[Termes IGN] logiciel de photogrammétrie
[Termes IGN] métrologie
[Termes IGN] MicMac
[Termes IGN] modélisation 3D
[Termes IGN] photogrammétrie aérienne
[Termes IGN] récepteur GPS
[Termes IGN] vision par ordinateurIndex. décimale : THESE Thèses et HDR Résumé : (auteur) Over the last decade, drones have been largely used for civil applications. Airborne photogrammetry has found place in these applications as a modeling and a measuring tool. Vinci-Construction-Terrassement is a private company of public building and works sector that integrates drones and photogrammetry as a mapping solution and metrology investigation on its sites. This tool is very efficient for the calculation of stock volumes for instance, or for time tracking of specific areas with risk of landslides. The aim of the present work is to do direct georeferencing of images acquired by the camera leaning on an embedded GPS receiver. The UAS used needs to be low cost and therefore data processing is adapted to this constraint. Note de contenu : 1- Introduction - version française
2- Introduction
3- Literature Review, Hardware & Software
4- Integrated sensor integration
5- Thermal deformation on images
6- Conclusions & PerspectivesNuméro de notice : 25825 Affiliation des auteurs : LASTIG LOEMI (2012-2019) Thématique : IMAGERIE Nature : Thèse française Note de thèse : Thèse de Doctorat : Signal, Image & Automatique : Paris-Est : 2017 Organisme de stage : LASTIG (IGN) & Vinci Construction Terrassement nature-HAL : Thèse DOI : sans Date de publication en ligne : 11/05/2018 En ligne : https://theses.hal.science/tel-01789704 Format de la ressource électronique : URL Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=95114
Titre : Instantaneous estimation of attitude from GNSS Type de document : Thèse/HDR Auteurs : Hendy Fitrian Suhandri, Auteur ; Alfred Kleusberg, Directeur de thèse ; Hasanuddin Zainal Abidin, Directeur de thèse Editeur : Stuttgart : University of Stuttgart Année de publication : 2017 Importance : 143 p. Format : 21 x 30 cm Note générale : Bibliographie
thesis accepted by the Faculty of Aerospace Engineering and Geodesy of the University of Stuttgart in partial fulfilment of the requirements for the degree of Doctor of Engineering Sciences (Dr.-Ing.)Langues : Anglais (eng) Descripteur : [Termes IGN] ambiguïté entière
[Termes IGN] angle d'Euler
[Termes IGN] double différence
[Termes IGN] filtre de Kalman
[Termes IGN] méthode des moindres carrés
[Termes IGN] modèle stochastique
[Termes IGN] orientation de véhicule
[Termes IGN] positionnement cinématique
[Termes IGN] positionnement par GNSS
[Termes IGN] récepteur GNSS
[Termes IGN] simple différence
[Vedettes matières IGN] Traitement de données GNSSRésumé : (auteur) The use of the Global Navigation Satellite System (GNSS) is widely spread from position determination to attitude determination of a platform in space. This system offers time invariant estimation position. Another thing that can be an advantage is that the flexibility to operate the GNSS receiver variants, from the low-cost until the high-performance GNSS receivers. In terms of attitude determination application at least three receivers are required to determine three spatial axes, where the cost-effective GNSS attitude determination systems can be constructed with today’s receiver technology. At the moment, however, algorithms are lacking which are fast and efficient enough to estimate the position angles without delay. For this reason, the present work deals with the development of algorithms for the attitude determination in space of a platform under the help of the "GNSS" Global Positioning System (GPS). The investigation through this work is classified into three sequential parts: The first part is the estimation of the optimal configuration of baseline array as well as the estimation of the integer ambiguity of carrier phase differences. The estimated integer ambiguity is then used to estimate the high precision baseline coordinates. The second part is to estimate the attitude of the platform in space by means of quaternion using batch process, and the last part is to improve the algorithm using a recursive algorithm for the kinematic application purpose. The precise attitude determination about three spatial axes is possible if at least three GNSS receivers with fixed baselines are used in particular array configurations. Assuming that the basic lengths of the baselines are known a priori, the attitude angles can be calculated via the combination of carrier phase and pseudorange observations. Since the carrier of the GPS signal is propagated in short-wave form, the measured phase differences are ambiguous. The multiples of the GPS signal phases together with the baseline lengths are therefore estimated and improved in a first step with the aid of the a priori baseline lengths information. The multiple-baseline float solution estimation method is used. However, the approach does not provide optimal results. Therefore, an alternative algorithm for the float solution is presented, which estimates the float solution by using the socalled the gradient based iterative method of the least-squares. It shows that method is able to give convergent estimate parameter. It is also shown here that the proposed method outperforms the conventional iterative least-squares in terms of iteration number and computational time. For instantaneous applications, the Least-squares AMBiguity Decorrelation Adjustment (LAMBDA) method is not optimal for fixing the integer multiples of the carrier phase differences for several baseline lengths. In addition, this method requires a high computational effort as soon as a larger number of baseline lines enter into the calculation. An improvement in this work is utilising the partial LAMBDA method, which only uses a subset of the integer multiples to be determined. This algorithm improves the determination of integer multiples and precise calculation of the baseline lengths. The advantages of this algorithm are discussed, and it is empirically demonstrated that the ambiguities are better resolved. Furthermore, the estimation of the attitude angles with the aid of quaternions is theoretically improved and analysed. Two processing strategies are investigated: the least-squares method and the Kalman Filter (KF) method. For the static case, the least-squares is applied and tested. Simulations show that the developed gradient based iterative method of the least-squares provides better estimates than the conventional adjustment methods. It is also shown that the number of iterations required is less and the computational time is reduced. This algorithm is not useful for kinematic applications where a fast sequence of results is required. A modified Extended Kalman Filter (EKF)-Like algorithm is used for kinematic applications. Experiments show that with this algorithm more stable quaternions can be calculated with fewer outliers than when they are determined by the least-squares method. All newly developed algorithms are theoretically analysed and subjected to extensive simulations and experimental kinematic tests in the field. Note de contenu : Introduction
1 - General mathematical model of GNSS positioning
2 - Multi-baseline GNSS estimation method
3 - GNSS based attitude determination
4 - Recursive attitude determination
5 - Experimental result of static and kinematic tests
6 - Summary, conclusion and future work suggestionNuméro de notice : 21574 Affiliation des auteurs : non IGN Thématique : POSITIONNEMENT Nature : Thèse étrangère Note de thèse : Doctor thesis : Engineering sciences : Stuttgart : 2017 DOI : 10.18419/opus-9239 En ligne : http://dx.doi.org/10.18419/opus-9239 Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=90576 Modeling tropospheric wet delays with dense and sparse network configurations for PPP-RTK / Paulo S. de Oliveira in GPS solutions, vol 21 n° 1 (January 2017)
[article]
Titre : Modeling tropospheric wet delays with dense and sparse network configurations for PPP-RTK Type de document : Article/Communication Auteurs : Paulo S. de Oliveira, Auteur ; Laurent Morel, Auteur ; François Fund, Auteur ; Romain Legros, Auteur ; et al., Auteur Année de publication : 2017 Article en page(s) : pp 237 - 250 Note générale : Bibliographie Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Applications de géodésie spatiale
[Termes IGN] France d'outre-mer
[Termes IGN] orbite précise
[Termes IGN] Orphéon
[Termes IGN] positionnement cinématique en temps réel
[Termes IGN] positionnement par GLONASS
[Termes IGN] positionnement par GNSS
[Termes IGN] positionnement par GPS
[Termes IGN] positionnement ponctuel précis
[Termes IGN] récepteur bifréquence
[Termes IGN] réseau géodésique clairsemé
[Termes IGN] réseau géodésique dense
[Termes IGN] retard troposphérique
[Termes IGN] retard troposphérique zénithalRésumé : (Auteur) Precise Point Positioning (PPP) is a well-known technique of positioning by Global Navigation Satellite Systems (GNSS) that provides accurate solutions. With the availability of real-time precise orbit and clock products provided by the International GNSS Service (IGS) and by individual analysis centers such as Centre National d’Etudes Spatiales through the IGS Real-Time Project, PPP in real time is achievable. With such orbit and clock products and using dual-frequency receivers, first-order ionospheric effects can be eliminated by the ionospheric-free combination. Concerning the tropospheric delays, the Zenith Hydrostatic Delays can be quite well modeled, although the Zenith Wet Delays (ZWDs) have to be estimated because they cannot be mitigated by, for instance, observable combinations. However, adding ZWD estimates in PPP processing increases the time to achieve accurate positions. In order to reduce this convergence time, we (1) model the behavior of troposphere over France using ZWD estimates at Orphéon GNSS reference network stations and (2) send the modeling parameters to the GNSS users to be introduced as a priori ZWDs, with an appropriate uncertainty. At the user level, float PPP-RTK is achieved; that is, GNSS data are performed in kinematic mode and ambiguities are kept float. The quality of the modeling is assessed by comparison with tropospheric products published by Institut National de l’Information Géographique et Forestière. Finally, the improvements in terms of required time to achieve 10-cm accuracy for the rover position (simulated float PPP-RTK) are quantified and discussed. Results for 68 % quantiles of absolute errors convergence show that gains for GPS-only positioning with ZWDs derived from the assessed tropospheric modeling are about: 1 % (East), 20 % (North), and 5 % (Up). Since ZWD estimation is correlated with satellite geometry, we also investigated the positioning when processing GPS + GLONASS data, which increases significantly the number of available satellites. The improvements achieved by adding tropospheric corrections in this case are about: 2 % (East), 5 % (North), and 13 % (Up). Finally, a reduction in the number of reference stations by using a sparser network configuration to perform the tropospheric modeling does not degrade the generated tropospheric corrections, and similar performances are achieved. Numéro de notice : A2017-017 Affiliation des auteurs : non IGN Thématique : POSITIONNEMENT Nature : Article DOI : 10.1007/s10291-016-0518-0 En ligne : http://dx.doi.org/10.1007/s10291-016-0518-0 Format de la ressource électronique : URL article Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=83948
in GPS solutions > vol 21 n° 1 (January 2017) . - pp 237 - 250[article]Springer handbook of Global Navigation Satellite Systems / Peter J.G. Teunissen (2017)
Titre : Springer handbook of Global Navigation Satellite Systems Type de document : Guide/Manuel Auteurs : Peter J.G. Teunissen, Éditeur scientifique ; Oliver Montenbruck, Éditeur scientifique Editeur : Springer International Publishing Année de publication : 2017 Importance : 1327 Format : 20 x 27 cm ISBN/ISSN/EAN : 978-3-319-42926-7 Note générale : Bibliographie et glossaire Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Géodésie spatiale
[Termes IGN] antenne GNSS
[Termes IGN] BeiDou
[Termes IGN] couplage GNSS-INS
[Termes IGN] filtre de Kalman
[Termes IGN] Galileo
[Termes IGN] géodynamique
[Termes IGN] Global Navigation Satellite System
[Termes IGN] Global Orbitography Navigation Satellite System
[Termes IGN] horloge atomique
[Termes IGN] interférence
[Termes IGN] ionosphère
[Termes IGN] méthode des moindres carrés
[Termes IGN] orbitographie
[Termes IGN] orientation
[Termes IGN] positionnement différentiel
[Termes IGN] positionnement ponctuel précis
[Termes IGN] précision du positionnement
[Termes IGN] récepteur GNSS
[Termes IGN] réflectométrie par GNSS
[Termes IGN] résolution d'ambiguïté
[Termes IGN] signal GNSS
[Termes IGN] système d'extension
[Termes IGN] temps universel
[Termes IGN] traitement du signal
[Termes IGN] trajet multipleIndex. décimale : 30.61 Systèmes de Positionnement par Satellites du GNSS Résumé : (Editeur) This Handbook presents a complete and rigorous overview of the fundamentals, methods and applications of the multidisciplinary field of Global Navigation Satellite Systems (GNSS), providing an exhaustive, one-stop reference work and a state-of-the-art description of GNSS as a key technology for science and society at large. All global and regional satellite navigation systems, both those currently in operation and those under development (GPS, GLONASS, Galileo, BeiDou, QZSS, IRNSS/NAVIC, SBAS), are examined in detail. The functional principles of receivers and antennas, as well as the advanced algorithms and models for GNSS parameter estimation, are rigorously discussed. The book covers the broad and diverse range of land, marine, air and space applications, from everyday GNSS to high-precision scientific applications and provides detailed descriptions of the most widely used GNSS format standards, covering receiver formats as well as IGS product and meta-data formats. The full coverage of the field of GNSS is presented in seven parts, from its fundamentals, through the treatment of global and regional navigation satellite systems, of receivers and antennas, and of algorithms and models, up to the broad and diverse range of applications in the areas of positioning and navigation, surveying, geodesy and geodynamics, and remote sensing and timing. Each chapter is written by international experts and amply illustrated with figures and photographs, making the book an invaluable resource for scientists, engineers, students and institutions alike. Note de contenu :
PRINCIPLES OF GNSS
1. Introduction to GNSS
2. Time and reference systems
3. Satellite orbits and attitude
4. Signals and modulation
5. Clocks
6. Atmospheric signal propagation
SATELLITE NAVIGATION SYSTEMS
7. The Global Positioning System (GPS)
8. GLONASS
9. Galileo
10. Chinese navigation satellite systems
11. Regional systems
12. Satellite based augmentation systems
GNSS RECEIVERS AND ANTENNAS
13. Receiver architecture
14. Signal processing
15. Multipath
16. Interference
17. Antennas
18. Simulators and test equipment
GNSS algorithms and models
19. Basic observation equations
20. Combinations of observations
21. Positioning model
22. Least-squares estimation and Kalman filtering
23. Carrier phase integer ambiguity resolution
24. Batch and recursive model validation
POSITIONING AND NAVIGATION
25. Precise point positioning
26. Differential positioning
27. Attitude determination
28. GNSS/INS integration
29. Land and maritime applications
30. Aviation applications
31. Ground based augmentation systems
32. Space applications
SURVEYING, GEODESY AND GEODYNAMICS
33. The international GNSS service
34. Orbit and clock product generation
35. Surveying
36. Geodesy
37. Geodynamics
GNSS REMOTE SENSING AND TIMING
38. Monitoring of the neutral atmosphere
39. Ionosphere monitoring
40. Reflectometry
41. GNSS time and frequency transfer
Annex A: Data formats
Annex B: GNSS parametersNuméro de notice : 22723 Affiliation des auteurs : non IGN Thématique : POSITIONNEMENT Nature : Manuel Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=85346 ContientRéservation
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Code-barres Cote Support Localisation Section Disponibilité 22723-01 30.61 Livre Centre de documentation Géodésie Disponible 22723-04 DEP-EXG Livre Equipe Géodésie Dépôt en unité Exclu du prêt 22723-03 DEP-ELG Livre Marne-la-Vallée Dépôt en unité Exclu du prêt 22723-02 DEP-PMC Livre Saint-Mandé Dépôt en unité Exclu du prêt Uncovering common misconceptions in GNSS Precise Point Positioning and its future prospect / Suelynn Choy in GPS solutions, vol 21 n° 1 (January 2017)
[article]
Titre : Uncovering common misconceptions in GNSS Precise Point Positioning and its future prospect Type de document : Article/Communication Auteurs : Suelynn Choy, Auteur ; Sunil Bisnath, Auteur ; Chris Rizos, Auteur Année de publication : 2017 Article en page(s) : pp 13 - 22 Note générale : Bibliographie Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Applications de géodésie spatiale
[Termes IGN] positionnement ponctuel précis
[Termes IGN] précision centimétrique
[Termes IGN] prospective
[Termes IGN] récepteur GNSS
[Termes IGN] test de performanceRésumé : (Auteur) Within the last decade, GNSS Precise Point Positioning (PPP) has generated unprecedented interest among the GNSS community and is being used for a number of scientific and commercial applications today. Similar to the conventional relative positioning technique, PPP could provide positioning solutions at centimeter-level precision by making use of the precise carrier phase measurements and high-accuracy satellite orbits and clock corrections provided by, for example, the International GNSS Service. The PPP technique is attractive as it is computationally efficient; it eliminates the need for simultaneous observations at both the reference and rover receivers; it also eliminates the needs for the rover receiver to operate within the vicinity of the reference receiver; and it provides homogenous positioning quality within a consistent global frame anywhere in the world with a single GNSS receiver. Although PPP has definite advantages for many applications, its merits and widespread adoption are significantly limited by the long convergence time, which restricts the use of the PPP technique for many real-time GNSS applications. We provide an overview of the current performance of PPP as well as attempt to address some of the common misconceptions of this positioning technique—considered by many as the future of satellite positioning and navigation. Given the upcoming modernization and deployment of GNSS satellites over the next few years, it would be appropriate to address the potential impacts of these signals and constellations on the future prospect of PPP. Numéro de notice : A2017-012 Affiliation des auteurs : non IGN Thématique : POSITIONNEMENT Nature : Article DOI : 10.1007/s10291-016-0545-x En ligne : http://dx.doi.org/10.1007/s10291-016-0545-x Format de la ressource électronique : URL article Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=83934
in GPS solutions > vol 21 n° 1 (January 2017) . - pp 13 - 22[article]PermalinkEvaluation of GPS standard point positioning with various ionospheric error mitigation techniques / Sampad K. Panda in Journal of applied geodesy, vol 10 n° 4 (December 2016)PermalinkPrecise point positioning model using triple GNSS constellations: GPS, Galileo and BeiDou / Akram Afifi in Journal of applied geodesy, vol 10 n° 4 (December 2016)PermalinkSingle-frequency, dual-GNSS versus dual-frequency, single-GNSS: a low-cost and high-grade receivers GPS-BDS RTK analysis / Robert Odolinski in Journal of geodesy, vol 90 n° 11 (November 2016)PermalinkA statistical characterization of the Galileo-to-GPS inter-system bias / Ciro Gioia in Journal of geodesy, vol 90 n° 11 (November 2016)PermalinkLes forêts, une affaire de professionnels / Michel Padel in Géomètre, n° 2140 (octobre 2016)PermalinkIonospheric tomography using GNSS: multiplicative algebraic reconstruction technique applied to the area of Brazil / Fabricio Dos Santos Prol in GPS solutions, vol 20 n° 4 (October 2016)PermalinkLong-term soil moisture dynamics derived from GNSS interferometric reflectometry: a case study for Sutherland, South Africa / Sibylle Vey in GPS solutions, vol 20 n° 4 (October 2016)PermalinkPPP-RTK and inter-system biases: the ISB look-up table as a means to support multi-system PPP-RTK / Amir Khodabandeh in Journal of geodesy, vol 90 n° 9 (September 2016)PermalinkA multi-instrument and multi-model assessment of atmospheric moisture variability over the Western Mediterranean during HyMeX / Patrick Chazette in Quarterly Journal of the Royal Meteorological Society, vol 142 n° S1 (August 2016)Permalink