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A real-time algorithm for continuous navigation in intelligent transportation systems using LiDAR-Gyroscope-Odometer integration / Tarek Hassan in Journal of applied geodesy, vol 17 n° 1 (January 2023)  

Public [article]  inJournal of applied geodesy > vol 17 n° 1 (January 2023) . - pp 65 - 77 Titre : A real-time algorithm for continuous navigation in intelligent transportation systems using LiDAR-Gyroscope-Odometer integration Type de document : Article/Communication Auteurs : Tarek Hassan, Auteur ; Tamer Fath-Allah, Auteur ; Mohamed Elhabiby, Auteur ; et al., Auteur Année de publication : 2023 Article en page(s) : pp 65 - 77 Note générale : bibliographie Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Navigation et positionnement [Termes IGN] capteur à balayage [Termes IGN] centrale inertielle [Termes IGN] gyroscope [Termes IGN] lidar mobile [Termes IGN] odomètre [Termes IGN] panne [Termes IGN] positionnement par GNSS [Termes IGN] système de transport intelligent [Termes IGN] temps réel [Termes IGN] véhicule automobile [Termes IGN] zone urbaine Résumé : (auteur) Real-time positioning in suburban and urban environments has been a challenging task for many Intelligent Transportation Systems (ITS) applications. In these environments, positioning using Global Navigation Satellite Systems (GNSS) cannot provide continuous solutions due to the blockage of signals in harsh scenarios. Consequently, it is intrinsic to have an independent positioning system capable of providing accurate and reliable positional solutions over GNSS outages. This study exploits the integration of Light Detection and Ranging (LiDAR), gyroscope, and odometer sensors, and a novel real-time algorithm is proposed for this integration. Real field data, collected by a moving land vehicle, is used to test the presented algorithm. Three simulated GNSS outages are introduced in the trajectory such that each outage lasts for five minutes. The results show that using the proposed algorithm can achieve a promising navigation performance in urban environments. In addition, it is shown that the denser environments, that existed over the second and third outages, can provide better positioning accuracies as more features are extracted. The horizontal errors over the first outage, with less density of surroundings, reached 7.74 m (0.43%) error with a mean value of 3.15 m. Moreover, the horizontal errors in the denser environments over the second and third outages reached 4.97 m (0.28%) and 3.99 m (0.23%), with mean values of 2.25 m and 1.89 m, respectively. Numéro de notice : A2023-110 Affiliation des auteurs : non IGN Thématique : POSITIONNEMENT Nature : Article nature-HAL : ArtAvecCL-RevueIntern DOI : 10.1515/jag-2022-0022 Date de publication en ligne : 28/11/2022 En ligne : https://doi.org/10.1515/jag-2022-0022 Format de la ressource électronique : URL article Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=102469 [article]

Adjustment options for a survey network with magnetic levitation gyro data in an immersed under-sea tunnel / Ji Ma in Survey review, vol 51 n° 367 (July 2019)  

Public [article]  inSurvey review > vol 51 n° 367 (July 2019) . - pp 373 - 386 Titre : Adjustment options for a survey network with magnetic levitation gyro data in an immersed under-sea tunnel Type de document : Article/Communication Auteurs : Ji Ma, Auteur ; Zhiqiang Yang, Auteur ; Zhen Shi, Auteur ; et al., Auteur Année de publication : 2019 Article en page(s) : pp 373 - 386 Note générale : Bibliographie Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Topographie [Termes IGN] compensation de coordonnées [Termes IGN] gyroscope [Termes IGN] lever souterrain [Termes IGN] réseau géodésique spécifique [Termes IGN] tunnel Résumé : (Auteur) Since gyro azimuths are affected by the complex environmental factors that are present in underground spaces, the adjustment model should take this into account. In general, gyro azimuths are considered to be errorless or equal precision observations in the adjustment model, which leads to the overestimation or underestimation of the weight of the gyro azimuths. To improve the precision of underground networks, measured with a magnetic levitation gyroscope, an adjustment for the survey network with individually weighted gyro observations is proposed. The proposed method was tested on an equivalent mock-up network of the tunnels associated with the Hong Kong-Zhuhai-Macau Bridge. The lateral breakthrough error and lateral standard deviation at the breakthrough point were calculated and compared. Our result shows that the lateral breakthrough error was 4.8 mm with the precision change ratio of 64.5% which suggested that the proposed method is able to improve the precision of the breakthrough point. Numéro de notice : A2019-365 Affiliation des auteurs : non IGN Thématique : POSITIONNEMENT Nature : Article nature-HAL : ArtAvecCL-RevueIntern DOI : 10.1080/00396265.2018.1563376 Date de publication en ligne : 03/01/2019 En ligne : https://doi.org/10.1080/00396265.2018.1563376 Format de la ressource électronique : URL Article Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=93454 [article]

Low-cost warning system for the monitoring of the Corinth Canal / George Hloupis in Applied geomatics, vol 9 n° 4 (December 2017)  

Public [article]  inApplied geomatics > vol 9 n° 4 (December 2017) . - pp 263 - 277 Titre : Low-cost warning system for the monitoring of the Corinth Canal Type de document : Article/Communication Auteurs : George Hloupis, Auteur ; Vassilis Pagounis, Auteur ; Maria Tsakiri-Strati, Auteur ; George Doxastakis, Auteur ; Vangelis Zacharis, Auteur Année de publication : 2017 Article en page(s) : pp 263 - 277 Note générale : bibliographie Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Topographie [Termes IGN] accéléromètre [Termes IGN] canal [Termes IGN] données lidar [Termes IGN] données localisées 3D [Termes IGN] Grèce [Termes IGN] gyroscope [Termes IGN] microsystème électromécanique [Termes IGN] réseau de capteurs [Termes IGN] télémétrie laser terrestre Résumé : (auteur) This paper presents an in-house developed low-cost triggering design using wireless sensor network (WSN) nodes. A set of corresponding microelectromechanical system (MEMS) sensors (accelerometer and gyroscope) are used along with a radio transmission unit and a microprocessor. In conjunction with the WSN, terrestrial laser scanning (TLS) measurements are used. Specifically, the aim of this work is to introduce a low-cost WSN node with verified repeatability that will raise an initial signal for possible slope change which will be further verified by TLS measurements. The paper demonstrates the deployment of the developed design for a 3-month period in the Corinth Canal in Greece and presents indicative results. Numéro de notice : A2017-728 Affiliation des auteurs : non IGN Thématique : POSITIONNEMENT Nature : Article DOI : 10.1007/s12518-017-0196-9 Date de publication en ligne : 17/11/2017 En ligne : https://doi.org/10.1007/s12518-017-0196-9 Format de la ressource électronique : URL article Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=88401 [article]

Error analysis of a new planar electrostatic gravity gradiometer for airborne surveys / Karim Douch in Journal of geodesy, vol 89 n° 12 (december 2015)  

Public [article]  inJournal of geodesy > vol 89 n° 12 (december 2015) . - pp 1217 - 1231 Titre : Error analysis of a new planar electrostatic gravity gradiometer for airborne surveys Type de document : Article/Communication Auteurs : Karim Douch , Auteur ; Isabelle Panet , Auteur ; Gwendoline Pajot-Métivier , Auteur ; et al., Auteur Année de publication : 2015 Article en page(s) : pp 1217 - 1231 Note générale : bibliographie Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Géodésie physique [Termes IGN] accélération de la pesanteur [Termes IGN] accéléromètre [Termes IGN] champ de pesanteur terrestre [Termes IGN] erreur systématique [Termes IGN] gradiométrie [Termes IGN] gravimètre [Termes IGN] gravimétrie aérienne [Termes IGN] gyroscope [Termes IGN] lever aérien Résumé : (auteur) Moving-base gravity gradiometry has proven to be a convenient method to determine the Earth’s gravity field. The ESA mission GOCE (Gravity field and steady-state Ocean Circulation Explorer) has enabled to map the Earth gravity field and its gradients with a resolution of 80 km, leading to significant advances in physical oceanography and solid Earth physics. At smaller scales, airborne gravity gradiometry has been increasingly used during the past decade in mineral and hydrocarbon exploration. In both cases the sensitivity of gradiometers to the short wavelengths of the gravity field is of crucial interest. Here, we quantify and characterize the error on the gravity gradients estimated from measurements performed with a new instrument concept, called GREMLIT, for typical airborne conditions. GREMLIT is an ultra-sensitive planar gravitational gradiometer which consists in a planar acceleration gradiometer together with 3 gyroscopes. To conduct this error analysis, a simulation of a realistic airborne survey with GREMLIT is carried out. We first simulate realistic GREMLIT synthetic data, taking into account the acceleration gradiometer and gyroscope noises and biases and the variation of orientation of the measurement reference frame. Then, we estimate the gravity gradients from these data. Special attention is paid to the processing of the gyroscopes measurements whose accuracy is not commensurate with the ultra-sensitive gradiometer. We propose a method to calibrate the gyroscopes biases with a precision of the order 10−8 rad/s. In order to transform the tensor from the measurement frame to the local geodetic frame, we estimate the error induced when replacing the non-measured elements of the gravity gradient tensor by an a priori model. With the appropriate smoothing, we show that it is possible to achieve a precision better than 2E for an along-track spatial resolution of 2 km. Numéro de notice : A2015-887 Affiliation des auteurs : LASTIG LAREG+Ext (2012-mi2018) Thématique : POSITIONNEMENT Nature : Article nature-HAL : ArtAvecCL-RevueIntern DOI : 10.1007/s00190-015-0847-8 Date de publication en ligne : 07/08/2015 En ligne : https://doi.org/10.1007/s00190-015-0847-8 Format de la ressource électronique : URL article Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=79435 [article]

Getting closer to everywhere: accurately tracking smartphones indoors / Ramsey Faragher in GPS world, vol 24 n° 10 (October 2013)

Public [article]  inGPS world > vol 24 n° 10 (October 2013) . - pp 43 - 49 Titre : Getting closer to everywhere: accurately tracking smartphones indoors Type de document : Article/Communication Auteurs : Ramsey Faragher, Auteur ; Robert Harle, Auteur Année de publication : 2013 Article en page(s) : pp 43 - 49 Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Navigation et positionnement [Termes IGN] accéléromètre [Termes IGN] apprentissage automatique [Termes IGN] gyroscope [Termes IGN] magnétomètre [Termes IGN] microsystème électromécanique [Termes IGN] navigation à l'estime [Termes IGN] navigation pédestre [Termes IGN] odomètre [Termes IGN] positionnement en intérieur [Termes IGN] téléphone intelligent Résumé : (Editeur) [...] What are we to do if we wish to obtain consistently usable positions indoors using a mobile phone? As we will see in this month's column, we can augment or bypass its GPS or GNSS receiver with other unfettered sensing technologies such as gyroscopes and accelerometers. These devices can be made very small using microelectromechanical technology and are already included in some mobile phones. However, there are some issues with these devices for positioning, not the least of which is rapid position drift. We can restrain the drift by using magnetometers, for example - also present in some mobile phones. We can also use radio signals of opportunity to help in the positioning - signals available in the phone such as multi-generation mobile signals, Bluetooth, and Wi-Fi through their signal strength "fingerprints." But is all of this actually feasible? The authors of the article in this month's column have conducted tests of such a multi-system approach to positioning indoors with quite favorable results. Are we at the stage of accurate positioning (and tracking) everywhere? Not quite, but we are getting closer. Numéro de notice : A2013-586 Affiliation des auteurs : non IGN Thématique : POSITIONNEMENT Nature : Article DOI : sans Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=32722 [article]

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Alptransit Saint-Gothard : les exigences imposées aux travaux topographiques sur le tronçon de Sedrun / Adrian Ryf in XYZ, n° 105 (décembre 2005 - février 2006)

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Capteurs et algorithmes pour la localisation autonome en mode pédestre / Q. Ladetto (2003)  

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GPS-INS integration for pedestrian navigation / Vincent Gabaglio (2003)  

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Systèmes inertiels à composants liés - strap-down / J.C. Radix (1993)

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Intégration du GPS et des techniques inertielles / Didier Burtin (01/08/1992)

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Relativistic motion of gyroscopes and space gradiometry / E. Gill (1992)

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Le gyroscope / J.L. Guiral (1991)

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Analyse einer geodätischen raumstabilisierten Inertialplattform und Integration mit GPS / Bernd Eissfeller (1989)

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Modern techniques in geodesy and surveying / Nordic Geodetic Commission NGC (1989)

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Untersuchung einer kreiselorientierten Landfahrzeug-Navigationsanlage im Hinblick auf geodätische Anwendungen und Möglichkeiten der Höhenübertragung / W. Lechner (1988)

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