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Evaluation d'un système de positionnement d'un véhicule sur route basé sur la fusion de données / E. Helou Helo (2001)
Titre : Evaluation d'un système de positionnement d'un véhicule sur route basé sur la fusion de données Type de document : Mémoire Auteurs : E. Helou Helo, Auteur Editeur : Champs/Marne : Université de Marne-la-Vallée Année de publication : 2001 Autre Editeur : Champs-sur-Marne : Ecole nationale des sciences géographiques ENSG Importance : 32 p. Format : 21 x 30 cm Note générale : Bibliographie
Mémoire de fin de stage de DEA Sciences de l'Information GéographiqueLangues : Français (fre) Descripteur : [Vedettes matières IGN] Navigation et positionnement
[Termes IGN] centrale inertielle
[Termes IGN] chambre DTC
[Termes IGN] filtre de Kalman
[Termes IGN] géonavigateur
[Termes IGN] GPS en mode différentiel
[Termes IGN] GPS-INS
[Termes IGN] guidage de véhicules
[Termes IGN] navigation automobile
[Termes IGN] odomètre
[Termes IGN] signal GPS
[Termes IGN] système d'information géographiqueIndex. décimale : DSIG Mémoires du master 2 IG, du master 2 SIG, de l'ex DEA SIG Note de contenu : 1 INTRODUCTION
1.1 Le L.I.V.I.C
1.2 Objectifs
1.3 Problématique
1.4 Méthodologie
2 CAPTEURS ET PLATE-FORME EXPERIMENTALE
2.1 Le GPS
- Introduction
- Principe de fonctionnement
- Les signaux du GPS
- Précision du GPS
2.2 Les Capteurs Inertiels (INS)
- Le gyromètre
- Le topomètre/odomètre
- Le modèle de reconstruction
- Etude expérimentale
- Les cameras CDD
3 LES METHODES DE FUSION
3.1 Principe
3.2 Recalage INS/GPS/cameras/carte
- Objectifs
- Gestion du Temps
- Recalage GPS/INS
- Mode INS unique
- Effet des caméras CDD
3.3 Le filtre de KALMAN
- Principe
- Formulation
- Application du EKF à la localisation d'un véhicule
- Résultats expérimentaux
4 APPORT DES SIG AU SYSTEME D'AIDE A LA CONDUITE
4.1 Carte de précision.
- Constructions des points d'amers
4.2 SIG embarqué
- Fonctionnalité
- L'adaptation du SIG
5 CONCLUSIONNuméro de notice : 11165 Affiliation des auteurs : non IGN Thématique : POSITIONNEMENT Nature : Mémoire Master 2 IG Organisme de stage : Laboratoire sur les Interactions Véhicule Infrastructure Conducteur LIVIC (unité de recherche mixte LCPC-INRETS) Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=49516 Réservation
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Code-barres Cote Support Localisation Section Disponibilité 11165-01 DSIG Livre Centre de documentation Travaux d'élèves Disponible 11165-02 DSIG Livre Centre de documentation Travaux d'élèves Disponible Global Positioning Systems, inertial navigation, and integration / Mohinder S. Grewal (2001)
Titre : Global Positioning Systems, inertial navigation, and integration Type de document : Guide/Manuel Auteurs : Mohinder S. Grewal, Auteur ; Lawrence R. Weill, Auteur ; Angus P. Andrews, Auteur Editeur : New York, Londres, Hoboken (New Jersey), ... : John Wiley & Sons Année de publication : 2001 Importance : 392 p. Format : 16 x 24 cm + disquette ISBN/ISSN/EAN : 978-0-471-35032-3 Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Géodésie spatiale
[Termes IGN] centrale inertielle
[Termes IGN] filtre de Kalman
[Termes IGN] géodésie spatiale
[Termes IGN] Global Orbitography Navigation Satellite System
[Termes IGN] Global Positioning System
[Termes IGN] GPS en mode différentiel
[Termes IGN] GPS-INS
[Termes IGN] modèle d'erreur
[Termes IGN] navigation inertielle
[Termes IGN] poursuite de satellite
[Termes IGN] traitement du signal
[Termes IGN] transformation de coordonnéesIndex. décimale : 30.64 GPS et centrales inertielles Résumé : (Editeur) The only comprehensive guide to Kalman filtering and its applications to real-world GPS/INS problems. Written by recognized authorities in the field, this book provides engineers, computer scientists, and others with a working familiarity with the theory and contemporary applications of Global Positioning Systems (GPS). Inertial Navigational Systems, and Kalman filters.
Throughout, the focus is on solving real-work problems, with an emphasis on the effective use of state-of-the-art integration techniques for those systems, especially the application of Kalman filtering, To that end, the authors explore the various subtleties, common failures, and inherent limitations of the theory as it applies to real-world situations, and provide numerous detailed application examples and practice problems, including GPS-aided INS, modeling of gyros and accelerometers, and WAAS and LAAS. Drawing upon their many years of experience with GPS, INS and the Kalman filter, the authors present numerous design and implementation techniques not found in other professional references, including original techniques for :
- Representing the problem in a mathematical model
- Analysing the performance of the GPS sensor as a function of model parameters
- Implementing the mechanization equations in numerically stable algorithms
- Assessing computation requirements
- Testing the validity of results
- Monitoring GPS, INS, and Kalman filter performance in operationNote de contenu : 1 INTRODUCTION
GPS and GLONASS Overview
Differential and Augmented GPS
Applications
2 FUNDAMENTALS OF SATELLITE AND INERTIAL NAVIGATION
Navigation Systems Considered
Fundamentals of Inertial Navigation
Satellite Navigation
Time and GPS
User Position Calculations with No Errors
User Velocity Calculation with No Errors
Problems
3 SIGNAL CHARACTERISTICS AND INFORMATION EXTRACTION
Mathematical Signal Waveform Models
GPS Signal Components, Purposes and Properties
Signal Power Levels
Signal Acquisition and Tracking
Extraction of Information for Navigation Solution
Theoretical Considerations in Pseudorange and Frequency Estimation
Modernization of GPS
GPS Satellite Position Calculations
Problems
4 RECEIVER AND ANTENNA DESIGN
Receiver Architecture
Receiver Design Choices
Antenna Design
Problems
5 GPS DATA ERRORS
Selective Availability Errors
Ionospheric Propagation Errors
Tropospheric Propagation Errors
The Multipath Problem
How Multipath Causes Ranging Errors
Methods of Multipath Mitigation
Theoretical Limits for Multipath Mitigation
Ephemeris Data Errors
Onboard Clock Errors
Receiver Clock Errors
Error Budgets
Problems
6 INERTIAL NAVIGATION
Background
Inertial Sensors
Navigation Coordinates
System Implementations
SystemLevel Error Models
7 KALMAN FILTER BASICS
Introduction
State and Covariance Correction
State and Covariance Prediction
Summary of Kalman Filter Equations
Accommodating Correlated Noise
Nonlinear and Adaptive Implementations
KalmanBucy Filter
GPS Receiver Examples
Problems
8 KALMAN FILTER ENGINEERING
More Stable Implementation Methods
Implementation Requirements
Kalman Filter Monitoring
SchmidtKalman Suboptimal Filtering
Covariance Analysis
GPS/INS Integration Architectures
Problems
9 DIFFERENTIAL GPS
Introduction
LAWPS. WADGPS, and WAAS
GEO Uplink Subsystem (GUS)
GEO Uplink Subsystem (GUS) Clock Steering Algorithms
GEO Orbit Determination
ProblemsNuméro de notice : 12781 Affiliation des auteurs : non IGN Thématique : POSITIONNEMENT Nature : Manuel de cours Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=54784 Réservation
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Code-barres Cote Support Localisation Section Disponibilité 12781-01 30.64 Livre Centre de documentation Géodésie Disponible 12781-02 30.64 Livre Centre de documentation Géodésie Disponible 12781-03 30.64 Livre Centre de documentation Géodésie Disponible 12781-04 30.64 Livre Centre de documentation Géodésie Disponible Investigation and improvement of airborne laser scanning technique for monitoring surface elevation changes of glaciers / E. Favey (2001)
Titre : Investigation and improvement of airborne laser scanning technique for monitoring surface elevation changes of glaciers Type de document : Thèse/HDR Auteurs : E. Favey, Auteur Editeur : Zurich : Institut für Geodäsie und Photogrammetrie IGP - ETH Année de publication : 2001 Collection : IGP Mitteilungen, ISSN 0252-9335 num. 072 Importance : 152 p. Format : 21 x 30 cm ISBN/ISSN/EAN : 978-3-906467-32-0 Note générale : Bibliographie Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Applications photogrammétriques
[Termes IGN] Alpes
[Termes IGN] changement climatique
[Termes IGN] géoréférencement direct
[Termes IGN] glacier
[Termes IGN] GPS en mode cinématique
[Termes IGN] GPS en mode différentiel
[Termes IGN] GPS-INS
[Termes IGN] modèle numérique de surface
[Termes IGN] positionnement différentiel
[Termes IGN] Suisse
[Termes IGN] surveillance météorologique
[Termes IGN] télémétrie laser aéroportéIndex. décimale : 30.60 Géodésie spatiale Résumé : (Auteur) Headlines of global warming and melting glaciers predict sustainable climate changes for future generations. How much mass the glaciers actually loose, has been-despite its importance-investigated only for a few glaciers, as in-situ measuring methods are time-consuming and usually under-sampled. Airborne laser scanning is a young technology opening new possibilities for qualitative and quantitative determination of surface elevation changes of glaciers. Its rise was possible through the combination of several modern measuring methods, such as high-precision DGPS positioning in kinematic mode, attitude measurements using inertial systems, and laser distance measurements to non-cooperative targets.
This work investigates the feasibility and possible improvements of the airborne laser scanning technique with respect to the special circumstances of determining surface elevation changes of glaciers. This consists of an error analysis of the method as well as the scrutiny of its limitations, and its application to remote. alpine areas without the need of in-situ measurements.
The key problem consists in bringing together all necessary elements for georeferencing the laser data, where the quality of each contributing part has to be monitored regarding accuracy and systematic effects. The quality of the GPS trajectory can be degraded by various factors like atmospheric refraction. radio frequency interference, or obstruction of satellite visibility. The reliable identification of the integer-valued carrier phase ambiguities can be hindered or even made impossible by such effects. The attitude solution was realized using an inertial measurement unit. A separate attitude solution with lower accuracy using a GPS multi-antenna array was developed and used to control and correct IMU drift and offset errors. A self-calibration procedure for determining boresight misalignment angles was elaborated. The used laser scanning system showed increased blunder effects with low received signal power. An approach for detecting and removing blunder was implemented.
Using the laser scanning solution presented in this work, a height accuracy of 0.3 m could be realized flying over a runway at 500 m above ground. Higher flying height above ground and turbulences impede the realization of this data quality in the mountains; it amounts to about 0.5 m.
In the test area at Unteraargletscher, Bernese Alps, Switzerland, measurements for a temporal analysis were repeatedly made using the laser scanning technique. For the lower parts of Unteraargletscher, digital surface models originating from photogrammetry are available for comparison. The determination of the surface elevation change distribution was shown to be feasible with an accuracy of 0.50 - 0.7m.
The areas covered by airborne laser scanning are located between 2500 and 3400 m above sea level. For the period 1998-1999, a surface elevation increase of 2-4 m was measured. This positive change can be related to the immense amount of snowfall during the winter 98/99. The coverage of Unteraargletscher with measurements of surface elevation change could be completed up to the remote firn areas thanks to the airborne laser scanning technique. It is available for mass balance and flow modeling calculations.Numéro de notice : 13047 Affiliation des auteurs : non IGN Thématique : IMAGERIE Nature : Thèse étrangère DOI : 10.3929/ethz-a-004083013 En ligne : http://dx.doi.org/10.3929/ethz-a-004083013 Format de la ressource électronique : URL Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=54857 Réservation
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Code-barres Cote Support Localisation Section Disponibilité 13047-01 33.60 Livre Centre de documentation Photogrammétrie - Lasergrammétrie Disponible 13047-02 THESE Livre LASTIG Dépôt en unité Exclu du prêt Leistungsfähigkeit fahrzeugautonomer Ortungsverfahren auf der Basis von Map-Matching-Techniken / R. Czommer (2001)
Titre : Leistungsfähigkeit fahrzeugautonomer Ortungsverfahren auf der Basis von Map-Matching-Techniken Titre original : [Capacité de réalisation de procédé de détection d'un véhicule autonome sur la base des techniques de "map-matching"] Type de document : Thèse/HDR Auteurs : R. Czommer, Auteur Editeur : Munich : Bayerische Akademie der Wissenschaften Année de publication : 2001 Collection : DGK - C Sous-collection : Dissertationen num. 535 Importance : 145 p. Format : 21 x 30 cm ISBN/ISSN/EAN : 978-3-7696-9574-8 Note générale : Bibliographie Langues : Allemand (ger) Descripteur : [Vedettes matières IGN] Navigation et positionnement
[Termes IGN] correction
[Termes IGN] erreur systématique
[Termes IGN] géonavigateur
[Termes IGN] GPS assisté pour la navigation (technologies)
[Termes IGN] GPS en mode différentiel
[Termes IGN] milieu urbain
[Termes IGN] navigation automobile
[Termes IGN] odomètre
[Termes IGN] qualité des données
[Termes IGN] véhicule automobileIndex. décimale : 30.70 Navigation et positionnement Résumé : (Auteur) Autonomous car navigation systems with on-board positioning sensors and CD-road network require a road accurate positioning relatively to the road network for optimal route planning, for route guidance and for generating driving recommendations. Positioning effected in a certain reference system and its accuracy are not decisive but represent the logical location of the vehicle relatively to the digital map. This task is called map matching.
Modern car navigation systems use for positioning multi-sensor-systems (differential odometers, gyros, magnetic field sensors) in combination with GPS or DGPS. Little availability of satellite methods due to masking and second way effects in urban areas (85% of mobility activities in road traffic occur in urban areas), magnetic disturbances, wheel slips and unfavourable error propagation of dead reckoning lead again and again to loss of position and in principle to total system failures. This can be avoided by map matching which compensates the sensor typical error behaviour of positioning sensors. The systematic error behaviour was examined theoretically for the positioning sensors odometer (wheel sensors, i.e. ABS-sensors), magnetic field sensors, gyros, accelerometers, GPS, and DGPS. Based on these error models five map matching methods with different degrees of freedom were developed, estimated correspondingly to the various ways of presentation of plain curves in curvature pattern, in angular pattern, or with two-dimensional cartesian coordinates.
For orientation or curvature map matching the distance frives (ruve length) and the values of orientation (direction angle or curvatures) are derived from these measurements. This measured function over the curve length is fitted to the corresponding function of the map by estimating one offset and one scale factor in a least square adjustment between the two functions and the two curve lengths.
In case of coordinate procedures the driven distance is divided into line elements of constant length and compared with the line elements of the digital map. For matching onto the digital road network, three approximating transformation translations, plain similarity transformation and affinity transformation are studied. The sensivity of these five methods concerning systematic sensor errors is examined by a precise analysis by means of simulated observations for the sensor systems gyro with odometer and gyro with accelerometers.
Scale factors and bias of gyros can be compensated by curvature matching without any calibration of these errors. Accelerometer errors gradually lead to squared increasing errors regarding the measured distance, and cannot be matched without error compensation to any method on the map.
Based on real observations with GPS, DGPS, wheel sensors, and a strap down inertial system being investigated during test trips under normal traffic conditions the map matching procedures could be tested for various combinations of these sensors. The accuracies reached and the reliability of track identification of the exact track out of various alternative tracks being especially important for vehicle navigation, were analysed and valued.
In urban areas pure GPS measurements are often useless, as every change in satellite constellations leads to disturbances of the vehicle position which cannot be compensated by one of the methods.
DGPS needs a support by wheel sensors to bridge masking effects and to moderate drift effects during extremely slow motion. Measurements by sensor combinations such as gyro with wheel sensors, differential odometer, GPS with differential odometer, DGPS with differential odometer and pure DGPS (without long masking times) can be matched onto the map with all methods (besides translation), if at least two turns are contained within the data material.
The precision of the map matching process to the coordinate pattern decreases with growing distance. The orientation and curvature matching compensate systematic sensor errors considerably better and increase accuracy with growing distance.
The limits of positioning systems and map matching techniques are shown in problematic cases such as masking of the satellite signals, little curving of the track, track identification in nearly parallel alternative tracks.
Autonomous navigation systems based on odometers and gyros reach, by map matching onto the road net, more favourable positioning results at an accuracy of 70cm than pure DGPS measurements so that in urban areas a reliable map matching without DGPS is possible. The integration of DGPS does not show a considerable increase in accuracy, nevertheless the integrity of hybrid systems is increased.Numéro de notice : 68943 Affiliation des auteurs : non IGN Thématique : POSITIONNEMENT Nature : Thèse étrangère Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=62060 Réservation
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Code-barres Cote Support Localisation Section Disponibilité 68943-01 30.70 Livre Centre de documentation Géodésie Disponible 68943-02 30.70 Livre Centre de documentation Géodésie Disponible The calibration of SAR interferometric DEM's with Differential GPS / S. Slob in GeoEurope, vol 9 n° 6 (01/06/2000)
[article]
Titre : The calibration of SAR interferometric DEM's with Differential GPS Type de document : Article/Communication Auteurs : S. Slob, Auteur Année de publication : 2000 Article en page(s) : pp 24 - 26 Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Traitement d'image radar et applications
[Termes IGN] erreur absolue
[Termes IGN] étalonnage des données
[Termes IGN] GPS en mode différentiel
[Termes IGN] image radar moirée
[Termes IGN] interféromètrie par radar à antenne synthétique
[Termes IGN] modèle numérique de surface
[Termes IGN] OugandaRésumé : (Auteur) Experiences gained in calibrating SAR interferometric DEMs during the SAR-Uganda project. DGPS measurements provide a good means of calibrating the DEM in an absolute sense : removing the residual tilt and calibrate for the absolute vertical error. Numéro de notice : A2000-014 Affiliation des auteurs : non IGN Thématique : IMAGERIE Nature : Article DOI : sans Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=21438
in GeoEurope > vol 9 n° 6 (01/06/2000) . - pp 24 - 26[article]Réservation
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Code-barres Cote Support Localisation Section Disponibilité 066-00061 RAB Revue Centre de documentation En réserve L003 Disponible Guide pratique du GPS / Paul Correia (2000)PermalinkInstallation du réseau différentiel GPS des phares et balises [au Royaume-Uni et en République d'Irlande] / D. Hawksbee in XYZ, n° 82 (décembre 2000 - février 2001)PermalinkQu'est ce que le réseau actif peut changer au niveau des applications / Alain Harmel (2000)PermalinkZur Entwicklung eines GPS-Programmsystems für Lehre und Tests unter besonderer Berücksichtigung der Ambiguity Function Methode / B. Zebhauser (2000)PermalinkIntegrating GPS with other sensors for improved height determination: innovative use of multi-sensor systems / Yang Gao in GIM international, vol 13 n° 12 (December 1999)PermalinkGPS et SIG : le mariage incontournable / Françoise de Blomac in SIG la lettre, n° 9 (septembre 1999)PermalinkNational report of France at the EUREF symposium, Prague, 2 - 5 June 1999 / Pascal Willis (02/05/1999)PermalinkGPS et information géographique, actes de la journée du 23 mars 1999, Aix-en-Provence, France / Jean-Pierre Chrétien (1999)PermalinkInteger GPS-ambiguity estimation without the receiver-satellite geometry / N.F. Jonkman (1998)PermalinkA processing strategy for the application of the GPS in networks / P.J. de Jonge (1998)Permalink