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INS-assisted inter-system biases estimation and inter-system ambiguity resolution in a complex environment / Wenhao Zhao in GPS solutions, vol 27 n° 1 (January 2023)  

Public [article]  inGPS solutions > vol 27 n° 1 (January 2023) . - n° 3 Titre : INS-assisted inter-system biases estimation and inter-system ambiguity resolution in a complex environment Type de document : Article/Communication Auteurs : Wenhao Zhao, Auteur ; Genyou Liu, Auteur ; Ming Gao, Auteur ; et al., Auteur Année de publication : 2023 Article en page(s) : n° 3 Note générale : bibliographie Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Géodésie spatiale [Termes IGN] centrale inertielle [Termes IGN] erreur systématique inter-systèmes [Termes IGN] filtre de Kalman [Termes IGN] positionnement cinématique en temps réel [Termes IGN] résolution d'ambiguïté [Termes IGN] système complexe [Termes IGN] trajet multiple Résumé : (auteur) The inter-system real-time kinematic (RTK) model in which multiple systems choose the same reference satellite uses more observations than the traditional intra-system RTK model; however, it is still difficult to accurately determine the differential inter-system biases (DISB) and inter-system ambiguity in a complex environment. We propose a tightly coupled inter-system RTK/INS model that uses the high-precision position information the inertial navigation system (INS) provides to assist in DISB estimation and inter-system ambiguity resolution. Vehicle experiments on urban roads were designed to verify the effectiveness of the method. The vehicle experiments consisted of a simulated rare satellite environment with a high cutoff elevation angle and a real complex environment with buildings and trees obscuration. A robust Kalman filter strategy is used to combat the effects of multipath and non-line-of-sight signals in real complex environments. The results indicate that with the help of INS, the standard deviation of phase and code DISB is reduced by 11 and 17%, respectively, in the simulated environment and by 33 and 18%, respectively, in the real complex environment. Compared with the intra-system RTK/INS model, inter-system RTK/INS mode 3D positioning root-mean-square error is reduced by 79% in the simulated environment and by 27% in the real complex environment. In the single-epoch mode, the ambiguity success rates of the inter-system RTK/INS model, inter-system RTK model, intra-system RTK/INS model and intra-system RTK model are 89, 74, 69 and 58%, respectively, in the simulated environment, and 68, 41, 64 and 12%, respectively, in the real complex environment. Numéro de notice : A2023-003 Affiliation des auteurs : non IGN Thématique : POSITIONNEMENT Nature : Article nature-HAL : ArtAvecCL-RevueIntern DOI : 10.1007/s10291-022-01347-8 Date de publication en ligne : 09/10/2022 En ligne : https://doi.org/10.1007/s10291-022-01347-8 Format de la ressource électronique : URL article Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=101873 [article]

Result of the MICROSCOPE weak equivalence principle test / Pierre Touboul in Classical and Quantum Gravity, vol 39 n° 20 (October 2022)  

Public [article]  inClassical and Quantum Gravity > vol 39 n° 20 (October 2022) . - n° 2004009 Titre : Result of the MICROSCOPE weak equivalence principle test Type de document : Article/Communication Auteurs : Pierre Touboul, Auteur ; Gilles Métris, Auteur ; Manuel Rodrigues, Auteur ; et al., Auteur ; Isabelle Panet , Auteur Année de publication : 2022 Article en page(s) : n° 2004009 Note générale : bibliographie Pierre Touboul, Gilles Métris, Manuel Rodrigues, Joel Bergé, Alain Robert, Quentin Baghi, Yves André, Judicael Bedouet, Damien Boulanger, Stefanie Bremer, Patrice Carle, Ratana Chhun, Bruno Christophe, Valerio Cipolla, Thibault Damour, Pascale Danto, Louis Demange, Hansjoerg Dittus, Océane Dhuicque, Pierre Fayet, Bernard Foulon, Pierre-Yves Guidotti, Daniel Hagedorn, Emilie Hardy, Phuong-Anh Huynh, Patrick Kayser, Stephanie Lala, Claus Lämmerzah, Vincent Lebat, Françoise Liorzou, Meike List, Frank Löffler, Isabelle Panet, Martin Pernot-Borràs, Laurent Perraud, Sandrine Pires, Benjamin Pouilloux, Pascal Prieur, Alexandre Rebray, Serge Reynaud, Benny Rievers, Hanns Selig, Laura Serron, Timothy Sumner, Nicolas Tanguy, Patrizia Torresi and Pieter Visser. Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Géodésie physique [Termes IGN] accéléromètre [Termes IGN] MICROSCOPE (mission) [Termes IGN] mission spatiale [Termes IGN] principe d'équivalence Résumé : (auteur) The space mission MICROSCOPE dedicated to the test of the equivalence principle (EP) operated from April 25, 2016 until the deactivation of the satellite on October 16, 2018. In this analysis we compare the free-fall accelerations (aA and aB) of two test masses in terms of the Eötvös parameter $\eta (\text{A,B})=2\frac{{a}_{\mathrm{A}}-{a}_{\mathrm{B}}}{{a}_{\mathrm{A}}+{a}_{\mathrm{B}}}$. No EP violation has been detected for two test masses, made from platinum and titanium alloys, in a sequence of 19 segments lasting from 13 to 198 h down to the limit of the statistical error which is smaller than 10−14 for η(Ti, Pt). Accumulating data from all segments leads to η(Ti, Pt) = [−1.5 ± 2.3 (stat) ± 1.5 (syst)] × 10−15 showing no EP violation at the level of 2.7 × 10−15 if we combine stochastic and systematic errors quadratically. This represents an improvement of almost two orders of magnitude with respect to the previous best such test performed by the Eöt-Wash group. The reliability of this limit has been verified by comparing the free falls of two test masses of the same composition (platinum) leading to a null Eötvös parameter with a statistical uncertainty of 1.1 × 10−15. Numéro de notice : A2022-690 Affiliation des auteurs : UMR IPGP-Géod+Ext (2020- ) Thématique : POSITIONNEMENT Nature : Article nature-HAL : ArtAvecCL-RevueIntern DOI : 10.1088/1361-6382/ac84be En ligne : https://doi.org/10.1088/1361-6382/ac84be Format de la ressource électronique : URL article Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=101804 [article]

MICROSCOPE Mission: Final Results of the Test of the Equivalence Principle / Pierre Touboul in Physical Review Letters, vol 129 n° 12 ([01/09/2022])  

Public [article]  inPhysical Review Letters > vol 129 n° 12 [01/09/2022] . - n° 121102 Titre : MICROSCOPE Mission: Final Results of the Test of the Equivalence Principle Type de document : Article/Communication Auteurs : Pierre Touboul, Auteur ; Gilles Métris, Auteur ; Manuel Rodrigues, Auteur ; et al., Auteur ; Isabelle Panet , Auteur Année de publication : 2022 Article en page(s) : n° 121102 Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Géodésie physique [Termes IGN] accélération de la pesanteur [Termes IGN] accéléromètre [Termes IGN] erreur systématique [Termes IGN] MICROSCOPE (mission) [Termes IGN] principe d'équivalence Résumé : (auteur) The MICROSCOPE mission was designed to test the weak equivalence principle (WEP), stating the equality between the inertial and the gravitational masses, with a precision of 10−15 in terms of the Eötvös ratio η. Its experimental test consisted of comparing the accelerations undergone by two collocated test masses of different compositions as they orbited the Earth, by measuring the electrostatic forces required to keep them in equilibrium. This was done with ultrasensitive differential electrostatic accelerometers onboard a drag-free satellite. The mission lasted two and a half years, cumulating five months worth of science free-fall data, two-thirds with a pair of test masses of different compositions—titanium and platinum alloys—and the last third with a reference pair of test masses of the same composition—platinum. We summarize the data analysis, with an emphasis on the characterization of the systematic uncertainties due to thermal instabilities and on the correction of short-lived events which could mimic a WEP violation signal. We found no violation of the WEP, with the Eötvös parameter of the titanium and platinum pair constrained to η(Ti,Pt)=[−1.5±2.3(stat)±1.5(syst)]×10−15 at 1σ in statistical errors. Numéro de notice : A2022-691 Affiliation des auteurs : UMR IPGP-Géod+Ext (2020- ) Autre URL associée : vers HAL Thématique : POSITIONNEMENT Nature : Article nature-HAL : ArtAvecCL-RevueIntern DOI : 10.1103/PhysRevLett.129.121102 En ligne : https://dx.doi.org/10.1103/PhysRevLett.129.121102 Format de la ressource électronique : URL article Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=101806 [article]

PKS: A photogrammetric key-frame selection method for visual-inertial systems built on ORB-SLAM3 / Arash Azimi in ISPRS Journal of photogrammetry and remote sensing, vol 191 (September 2022)  

Public [article]  inISPRS Journal of photogrammetry and remote sensing > vol 191 (September 2022) . - pp 18 - 32 Titre : PKS: A photogrammetric key-frame selection method for visual-inertial systems built on ORB-SLAM3 Type de document : Article/Communication Auteurs : Arash Azimi, Auteur ; Ali Hosseininaveh Ahmadabadian, Auteur ; Fabio Remondino, Auteur Année de publication : 2022 Article en page(s) : pp 18 - 32 Note générale : bibliographie Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Photogrammétrie [Termes IGN] alignement [Termes IGN] cartographie et localisation simultanées [Termes IGN] centrale inertielle [Termes IGN] centre de gravité [Termes IGN] déformation d'image [Termes IGN] géoréférencement direct [Termes IGN] méthode heuristique [Termes IGN] semis de points [Termes IGN] seuillage d'image [Termes IGN] structure-from-motion [Termes IGN] vision par ordinateur Résumé : (auteur) Key-frame selection methods were developed in the past years to reduce the complexity of frame processing in visual odometry (VO) and visual simultaneous localization and mapping (VSLAM) algorithms. Key-frames help increasing algorithm's performances by sparsifying frames while maintaining its accuracy and robustness. Unlike current selection methods that rely on many heuristic thresholds to decide which key-frame should be selected, this paper proposes a photogrammetric-based key-frame selection method built upon ORB-SLAM3. The proposed algorithm, named Photogrammetric Key-frame Selection (PKS), replaces static heuristic thresholds with photogrammetric principles, ensuring algorithm’s robustness and better point cloud quality. A key-frame is chosen based on adaptive thresholds and the Equilibrium Of Center Of Gravity (ECOG) criteria as well as Inertial Measurement Unit (IMU) observations. To evaluate the proposed PKS method, the European Robotics Challenge (EuRoC) and an in-house datasets are used. Quantitative and qualitative evaluations are made by comparing trajectories, point clouds quality and completeness and Absolute Trajectory Error (ATE) in mono-inertial and stereo-inertial modes. Moreover, for the generated dense point clouds, extensive evaluations, including plane-fitting error, model deformation, model alignment error, and model density and quality, are performed. The results show that the proposed algorithm improves ORB-SLAM3 positioning accuracy by 18% in stereo-inertial mode and 20% in mono-inertial mode without the use of heuristic thresholds, as well as producing a more complete and accurate point cloud up to 50%. The open-source code of the presented method is available at https://github.com/arashazimi0032/PKS. Numéro de notice : A2022-664 Affiliation des auteurs : non IGN Thématique : IMAGERIE Nature : Article nature-HAL : ArtAvecCL-RevueIntern DOI : 10.1016/j.isprsjprs.2022.07.003 Date de publication en ligne : 12/07/2022 En ligne : https://doi.org/10.1016/j.isprsjprs.2022.07.003 Format de la ressource électronique : URL article Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=101525 [article]

UAV-borne, LiDAR-based elevation modelling: a method for improving local-scale urban flood risk assessment / Katerina Trepekli in Natural Hazards, vol 113 n° 1 (August 2022)  

Public [article]  inNatural Hazards > vol 113 n° 1 (August 2022) . - pp 423 - 451 Titre : UAV-borne, LiDAR-based elevation modelling: a method for improving local-scale urban flood risk assessment Type de document : Article/Communication Auteurs : Katerina Trepekli, Auteur ; Thomas Balstrøm, Auteur ; Thomas Friborg, Auteur ; et al., Auteur Année de publication : 2022 Article en page(s) : pp 423 - 451 Note générale : bibliographie Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Lasergrammétrie [Termes IGN] antenne GNSS [Termes IGN] centrale inertielle [Termes IGN] faisceau laser [Termes IGN] Ghana [Termes IGN] inondation [Termes IGN] modèle de simulation [Termes IGN] modèle numérique de surface [Termes IGN] modèle numérique de terrain [Termes IGN] risque naturel [Termes IGN] semis de points [Termes IGN] Triangulated Irregular Network [Termes IGN] zone urbaine Résumé : (auteur) In this study, we present the first findings of the potential utility of miniaturized light and detection ranging (LiDAR) scanners mounted on unmanned aerial vehicles (UAVs) for improving urban flood modelling and assessments at the local scale. This is done by generating ultra-high spatial resolution digital terrain models (DTMs) featuring buildings and urban microtopographic structures that may affect floodwater pathways (DTMbs). The accuracy and level of detail of the flooded areas, simulated by a hydrologic screening model (Arc-Malstrøm), were vastly improved when DTMbs of 0.3 m resolution representing three urban sites surveyed by a UAV-LiDAR in Accra, Ghana, were used to supplement a 10 m resolution DTM covering the region’s entire catchment area. The generation of DTMbs necessitated the effective classification of UAV-LiDAR point clouds using a morphological and a triangulated irregular network method for hilly and flat landscapes, respectively. The UAV-LiDAR data enabled the identification of archways, boundary walls and bridges that were critical when predicting precise run-off courses that could not be projected using the coarser DTM only. Variations in a stream’s geometry due to a one-year time gap between the satellite-based and UAV-LiDAR data sets were also observed. The application of the coarser DTM produced an overestimate of water flows equal to 15% for sloping terrain and up to 62.5% for flat areas when compared to the respective run-offs simulated from the DTMbs. The application of UAV-LiDAR may enhance the effectiveness of urban planning by projecting precisely the locations, extents and run-offs of flooded areas in dynamic urban settings. Numéro de notice : A2022-704 Affiliation des auteurs : non IGN Thématique : IMAGERIE/URBANISME Nature : Article DOI : 10.1007/s11069-022-05308-9 Date de publication en ligne : 22/03/2022 En ligne : https://doi.org/10.1007/s11069-022-05308-9 Format de la ressource électronique : URL article Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=101567 [article]

Lidar point-to-point correspondences for rigorous registration of kinematic scanning in dynamic networks / Aurélien Brun in ISPRS Journal of photogrammetry and remote sensing, vol 189 (July 2022)  

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Prototypage, analyse et qualification d’une solution de photogrammétrie mobile / Guillaume Niederberger in XYZ, n° 171 (juin 2022)

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An algorithm to assist the robust filter for tightly coupled RTK/INS navigation system / Zun Niu in Remote sensing, vol 14 n° 10 (May-2 2022)  

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Assessment of RTK quadcopter and structure-from-motion photogrammetry for fine-scale monitoring of coastal topographic complexity / Stéphane Bertin in Remote sensing, vol 14 n° 7 (April-1 2022)  

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A method of vision aided GNSS positioning using semantic information in complex urban environment / Rui Zhai in Remote sensing, vol 14 n° 4 (February-2 2022)  

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The integration of GPS/BDS real-time kinematic positioning and visual–inertial odometry based on smartphones / Zun Niu in ISPRS International journal of geo-information, vol 10 n° 10 (October 2021)  

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Multi-GNSS PPP/INS tightly coupled integration with atmospheric augmentation and its application in urban vehicle navigation / Shengfeng Gu in Journal of geodesy, vol 95 n° 6 (June 2021)  

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Spherically optimized RANSAC aided by an IMU for Fisheye Image Matching / Anbang Liang in Remote sensing, vol 13 n°10 (May-2 2021)  

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Horizontal calibration of vessels with UASs / Casey O'Heran in Marine geodesy, vol 44 n° 2 (March 2021)  

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Enhanced trajectory estimation of mobile laser scanners using aerial images / Zille Hussnain in ISPRS Journal of photogrammetry and remote sensing, vol 173 (March 2021)  

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