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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)  

Public [article]  inISPRS International journal of geo-information > vol 10 n° 10 (October 2021) . - n° 699 Titre : The integration of GPS/BDS real-time kinematic positioning and visual–inertial odometry based on smartphones Type de document : Article/Communication Auteurs : Zun Niu, Auteur ; Fugui Guo, Auteur ; Qiangqiang Shuai, Auteur ; et al., Auteur Année de publication : 2021 Article en page(s) : n° 699 Note générale : bibliographie Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Navigation et positionnement [Termes IGN] C++ [Termes IGN] centrale inertielle [Termes IGN] filtre de Kalman [Termes IGN] format RINEX [Termes IGN] odomètre [Termes IGN] positionnement cinématique en temps réel [Termes IGN] positionnement par BeiDou [Termes IGN] positionnement par GNSS [Termes IGN] précision du positionnement [Termes IGN] programmation informatique [Termes IGN] robot [Termes IGN] téléphone intelligent [Termes IGN] vision par ordinateur Résumé : (auteur) The real-time kinematic positioning technique (RTK) and visual–inertial odometry (VIO) are both promising positioning technologies. However, RTK degrades in GNSS-hostile areas, where global navigation satellite system (GNSS) signals are reflected and blocked, while VIO is affected by long-term drift. The integration of RTK and VIO can improve the accuracy and robustness of positioning. In recent years, smartphones equipped with multiple sensors have become commodities and can provide measurements for integrating RTK and VIO. This paper verifies the feasibility of integrating RTK and VIO using smartphones, and we propose an improved algorithm to integrate RTK and VIO with better performance. We began by developing an Android smartphone application for data collection and then wrote a Python program to convert the data to a robot operating system (ROS) bag. Next, we established two ROS nodes to calculate the RTK results and accomplish the integration. Finally, we conducted experiments in urban areas to assess the integration of RTK and VIO based on smartphones. The results demonstrate that the integration improves the accuracy and robustness of positioning and that our improved algorithm reduces altitude deviation. Our work can aid navigation and positioning research, which is the reason why we open source the majority of the codes at our GitHub. Numéro de notice : A2021-800 Affiliation des auteurs : non IGN Thématique : POSITIONNEMENT Nature : Article nature-HAL : ArtAvecCL-RevueIntern DOI : 10.3390/ijgi10100699 Date de publication en ligne : 14/10/2021 En ligne : https://doi.org/10.3390/ijgi10100699 Format de la ressource électronique : URL article Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=98852 [article]

GNSS scale determination using calibrated receiver and Galileo satellite antenna patterns / Arturo Villiger in Journal of geodesy, vol 94 n° 9 (September 2020)  

Public [article]  inJournal of geodesy > vol 94 n° 9 (September 2020) . - n° 93 Titre : GNSS scale determination using calibrated receiver and Galileo satellite antenna patterns Type de document : Article/Communication Auteurs : Arturo Villiger, Auteur ; Rolf Dach, Auteur ; Stefan Schaer, Auteur ; et al., Auteur Année de publication : 2020 Article en page(s) : n° 93 Note générale : bibliographie Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Systèmes de référence et réseaux [Termes IGN] antenne Galileo [Termes IGN] centre de phase [Termes IGN] chambre anéchoïque [Termes IGN] étalonnage d'instrument [Termes IGN] International Terrestrial Reference Frame [Termes IGN] métadonnées [Termes IGN] positionnement par ITGB [Termes IGN] positionnement par télémétrie laser sur satellite [Termes IGN] réseau géodésique terrestre [Termes IGN] robot Résumé : (auteur) The reference frame of a global terrestrial network is defined by the origin, the orientation and the scale. The origin of the ITRF2014 is defined by the ILRS long-term solution, the orientation by no-net rotation conditions w.r.t. the previous reference frame (ITRF2008), and the scale by the mean values from global VLBI and SLR solution series (Altamimi et al. in J Geophys Res Solid Earth 121:6109–6131, 2016). With the release of the Galileo satellite antenna phase center offsets (PCO) w.r.t. the satellites center of mass (GSA in Galileo IOV and FOC satellite metadata, 2019) and the availability of new ground antenna calibrations for GNSS receivers, based on anechoic chamber measurements or on robot calibrations, GNSS global network solutions qualify to contribute to the scale determination of terrestrial networks, as well. Our analysis is based on global multi-GNSS solutions of the years 2017 and 2018 and may be seen as “proof of concept” for the contribution of GNSS data to the scale determination of the terrestrial reference frame. In a first step, the currently used Galileo PCO estimations (Steigenberger et al. in J Geod 90:773–785, 2016) are compared to the released PCO values, which show discrepancies on the decimeter-level. Eventually, the published Galileo PCOs are used in an experimental solution as known values. GNSS-specific PCOs are estimated, as well, for GPS and GLONASS, together with the “standard” parameters set up in global GNSS solutions. From the estimated network coordinates, a time series of daily scale parameters of the terrestrial network is extracted, which shows an offset of the order of 1 ppb (parts per billion, corresponding to a height difference of 6.4 mm on the Earth’s surface) w.r.t. to the ITRF2014 network and an annual variation with an amplitude of about 0.3 ppb. Numéro de notice : A2020-539 Affiliation des auteurs : non IGN Thématique : POSITIONNEMENT Nature : Article nature-HAL : ArtAvecCL-RevueIntern DOI : 10.1007/s00190-020-01417-0 Date de publication en ligne : 05/09/2020 En ligne : https://doi.org/10.1007/s00190-020-01417-0 Format de la ressource électronique : URL article Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=95739 [article]

Antenna phase center correction differences from robot and chamber calibrations: the case study LEIAR25 / Grzegorz Krzan in GPS solutions, vol 24 n° 2 (April 2020)  

Public [article]  inGPS solutions > vol 24 n° 2 (April 2020) Titre : Antenna phase center correction differences from robot and chamber calibrations: the case study LEIAR25 Type de document : Article/Communication Auteurs : Grzegorz Krzan, Auteur ; Karol Dawidowicz, Auteur ; Pawel Wielgosz, Auteur Année de publication : 2020 Note générale : bibliographie Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Géodésie spatiale [Termes IGN] antenne GLONASS [Termes IGN] antenne GNSS [Termes IGN] antenne GPS [Termes IGN] centre de phase [Termes IGN] chambre anéchoïque [Termes IGN] correction du signal [Termes IGN] étalonnage d'instrument [Termes IGN] instrumentation Leica [Termes IGN] positionnement par GNSS [Termes IGN] positionnement ponctuel précis [Termes IGN] robot [Termes IGN] série temporelle [Termes IGN] signal GNSS Résumé : (auteur) In recent years, the Global Navigation Satellite Systems (GNSS) have been intensively modernized, resulting in the introduction of new carrier frequencies for GPS and GLONASS and the development of new satellite systems such as Galileo and BeiDou (BDS). For this reason, the absolute field antenna calibrations performed so far for the two legacy carrier frequencies, the GPS and GLONASS, seem to be insufficient. Hence, all antennas will require a re-calibration of their phase center variations for the new signals to ensure the highest measurement accuracy. Currently, two absolute calibration methods are used to calibrate GNSS antennas: field calibration using a robot and calibration in an anechoic chamber. Unfortunately, differences in these methodologies also result in a disparity in the obtained antenna phase center corrections (PCC). Therefore, we analyze the differences between individual PCC obtained with these two methods, specifically for the Leica AR-25 antenna model (LEIAR25). In addition, the influence of PCC differences on the GNSS-derived position time series for 19 EUREF Permanent GNSS Network (EPN) stations was also assessed. The results show that the calibration method has a noticeable impact on PCC models. PCC differences determined for the ionosphere-free combination may reach up over 20 mm and can be transferred to the position domain. Further tests concerning the positioning accuracy showed that for horizontal coordinates differences between solutions were mostly below 1 mm, exceeding 2 mm only at two stations for the GLONASS solution. However, the height component differences exceeded 5 mm for four, six and six stations out of 19 for the GPS, GLONASS and Galileo solutions, respectively. These differences are strongly dependent on large L2 calibration differences. Numéro de notice : A2020-081 Affiliation des auteurs : non IGN Thématique : POSITIONNEMENT Nature : Article nature-HAL : ArtAvecCL-RevueIntern DOI : 10.1007/s10291-020-0957-5 Date de publication en ligne : 11/02/2020 En ligne : https://doi.org/10.1007/s10291-020-0957-5 Format de la ressource électronique : URL article Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=94650 [article]

Multi-factor of path planning based on an ant colony optimization algorithm / Mingchang Wang in Annals of GIS, vol 26 n° 2 (April 2020)  

Public [article]  inAnnals of GIS > vol 26 n° 2 (April 2020) Titre : Multi-factor of path planning based on an ant colony optimization algorithm Type de document : Article/Communication Auteurs : Mingchang Wang, Auteur ; Chunyu Zhu, Auteur ; Fengyan Wang, Auteur Année de publication : 2020 Note générale : bibliographie Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Analyse spatiale [Termes IGN] classification floue [Termes IGN] gestion des itinéraires [Termes IGN] optimisation par colonie de fourmis [Termes IGN] planification [Termes IGN] processus de hiérarchisation analytique floue [Termes IGN] robot Résumé : (auteur) We propose an improved ant colony algorithm for avoiding obstacles in complex static environments that addresses the problems of a single evaluation factor and low path quality of the traditional ant colony algorithm in path planning. The improvements are: 1) a fuzzy planner is constructed according to the comprehensive evaluation method of fuzzy mathematics and the analytic hierarchy process to comprehensively evaluate and determine the impact of environmental factors, 2) the probability selection formula of the ant colony algorithm is optimized, 3) the pheromone update formula is optimized, and 4) the corner system mechanism is introduced as a post-processing method of path optimization to further smooth the path. Results from simulation experiments of the traditional ant colony algorithm were analysed and compared with those of the improved ant colony algorithm, showing that the latter has a stronger path planning ability and higher algorithm efficiency, resulting in a smoother path with a lower negative impact by environmental factors. Thus, the proposed algorithm is expected to provide a computational basis for effective multi-factor path planning in realistic environments, thereby saving human and material resources. Numéro de notice : A2020-320 Affiliation des auteurs : non IGN Thématique : GEOMATIQUE Nature : Article DOI : 10.1080/19475683.2020.1755725 Date de publication en ligne : 13/05/2020 En ligne : https://doi.org/10.1080/19475683.2020.1755725 Format de la ressource électronique : url article Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=95186 [article]

Absolute field calibration for multi-GNSS receiver antennas at ETH Zurich / Daniel Willi in GPS solutions, vol 24 n° 1 (January 2020)  

Public [article]  inGPS solutions > vol 24 n° 1 (January 2020) Titre : Absolute field calibration for multi-GNSS receiver antennas at ETH Zurich Type de document : Article/Communication Auteurs : Daniel Willi, Auteur ; Simon Lutz, Auteur ; Elmar Brockmann, Auteur ; Markus Rothacher, Auteur Année de publication : 2020 Note générale : Bibliographie Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Géodésie spatiale [Termes IGN] antenne Galileo [Termes IGN] antenne GNSS [Termes IGN] antenne GPS [Termes IGN] centre de phase [Termes IGN] données Galileo [Termes IGN] données GPS [Termes IGN] données multicapteurs [Termes IGN] étalonnage au sol [Termes IGN] étalonnage d'instrument [Termes IGN] étalonnage des données [Termes IGN] international GPS service for geodynamics [Termes IGN] mesurage de phase [Termes IGN] récepteur GNSS [Termes IGN] robot [Termes IGN] signal GNSS [Termes IGN] Zurich (Suisse) Résumé : (Auteur) ETH Zurich developed an absolute GNSS antenna calibration system based on measurements taken in the field. An industrial robot is used to rotate and tilt the antenna to be calibrated. This procedure ensures good coverage of the antenna hemisphere and reduces systematic errors. The calibration system at ETH Zurich is validated by a direct comparison of the obtained calibrations with calibrations from the anechoic chamber method (University of Bonn) and from another absolute field calibration method (Geo++® GmbH). Calibrations by ETH Zurich agree on the sub-millimeter level with both reference calibrations. A second validation was conducted using real measurements on short baselines. Data were acquired on four stations in direct vicinity and processed using different phase center correction models. The experiment shows that individual corrections of ETH Zurich reduce the residuals in the coordinate domain when compared to type-mean calibrations of the International GNSS Service (IGS). However, residual biases between GPS and Galileo coordinates remain. These biases are efficiently reduced when using the new type-mean calibrations from the IGS that include calibration values for all GNSS, including Galileo. The ETH Zurich calibration system is proven to deliver meaningful calibrations that agree with other calibrations on the millimeter level in the azimuth and elevation domain. The field validation shows evidence that the consistency of the Galileo and GPS calibration should be further enhanced by performing a combined GPS and Galileo analysis, which is not yet implemented. Numéro de notice : A2020-020 Affiliation des auteurs : non IGN Thématique : POSITIONNEMENT Nature : Article nature-HAL : ArtAvecCL-RevueIntern DOI : 10.1007/s10291-019-0941-0 Date de publication en ligne : 19/12/2019 En ligne : https://doi.org/10.1007/s10291-019-0941-0 Format de la ressource électronique : URL Article Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=94460 [article]

Porting ardupilot to ESP32: towards a universal open-source architecture for agile and easily replicable multi-domains mapping robots / Laurent Beaudoin (2020)  

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The Workplace of the Future / J.A. Johannessen (2018)  

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Assessment of next-best-view algorithms performance with various 3D scanners and manipulator / M. Karaszewski in ISPRS Journal of photogrammetry and remote sensing, vol 119 (September 2016)  

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Acquisition et reconstruction de données 3D denses sous-marines en eau peu profonde par des robots d'exploration / Loïca Avanthey (2016)  

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Ableitung von Bewegungsstrategien zur automatisierten, vollständigen Vermessung von Innerraumszenen auf autonom navigierender Plattform / Alexander Fietz (2012)  

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It's a robot life: using GPS and pseudolites for humanoid robot positioning / S. Sugano in GPS world, vol 18 n° 9 (September 2007)

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Efficient facial expression recognition for human robot interaction / Fadi Dornaika (2007)  

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Photogrammétrie et archéologie sous-marine profonde : le cas de l'épave étrusque grand Ribaud F [1ère partie] / P. Drap in XYZ, n° 103 (juin - août 2005)

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Robots behind the wheel: GPS/INS-vehicle assessment / B. Watts in GPS world, vol 14 n° 7 (July 2003)

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Vision 3D non calibrée : contributions à la reconstruction projective et étude des mouvements critiques pour l'auto-calibrage / Peter Franz Sturm (1997)  

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