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Gravity forward modeling with a tesseroid-based rock-water-ice approach / Thomas Grombein (2017)    

Public Titre : Gravity forward modeling with a tesseroid-based rock-water-ice approach : Theory and applications in the context of the GOCE mission and height system unification Type de document : Thèse/HDR Auteurs : Thomas Grombein, Auteur Editeur : Munich : Bayerische Akademie der Wissenschaften Année de publication : 2017 Collection : DGK - C Sous-collection : Dissertationen num. 798 Importance : 222 p. Format : 21 x 30 cm ISBN/ISSN/EAN : 978-3-7696-5210-9 Note générale : bibliographie Inaugural dissertation for the fulfillment of the requirements for the academic degree of Doctor of Engineering (Dr.-Ing.) accepted by the Department of Civil Engineering, Geo and Environmental Sciences of the Karlsruhe Institute of Technology (KIT) Diese Dissertation ist auf dem Server der Deutschen Geodätischen Kommission unter <http://dgk.badw.de/> sowie auf dem Server des Karlsruher Instituts für Technologie unter <http://dx.doi.org/10.5445/KSP/1000068500> elektronisch publiziert Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Géodésie physique [Termes descripteurs IGN] champ de pesanteur terrestre [Termes descripteurs IGN] données GOCE [Termes descripteurs IGN] eau de surface [Termes descripteurs IGN] glace [Termes descripteurs IGN] gradient de gravitation [Termes descripteurs IGN] isostasie [Termes descripteurs IGN] levé gravimétrique [Termes descripteurs IGN] ondelette [Termes descripteurs IGN] problème des valeurs limites [Termes descripteurs IGN] tesseroid Résumé : (auteur) Due to the increasing availability of global high-resolution digital terrain models (DTMs), it has nowadays become possible to obtain a detailed image of the Earth’s topography. This enables to precisely determine the gravitational effect of the topographic masses on the Earth’s gravity field. The central technique for this aim is gravity forward modeling (GFM), which is based on Newton’s law of universal gravitation, and allows to convert topographic heights along with suitable density assumptions into corresponding values of the gravitational potential and its derivatives. This topographic gravity forward modeling attracts a growing interest in various areas of geodetic gravity field determination and geophysical studies of the Earth’s composition and structure (e.g., solid-earth sciences). However, previous GFM methods have proven unsuitable for the increasing accuracy requirements stemming from an improved precision of geodetic measurements. This is due to commonly used simplifications and approximations, such as (i) the use of condensed heights for water and ice masses (rock-equivalent heights), (ii) mass discretizations or arrangements based on planar and spherical approximations, and (iii) assumptions regarding the spectral consistency between band-limited topographic heights and induced gravity, as in residual terrain modeling (RTM) techniques. This thesis contributes to state-of-the-art GFM in the space domain by providing effective techniques and refinements that overcome these limitations. More concretely, the theory of the Rock-Water-Ice (RWI) approach is developed that encompasses a more realistic modeling of the Earth’s topographic and isostatic masses, i.e., the masses of the continents, oceans, lakes, ice sheets and shelves, as well as their deeper lying (isostatic) compensation masses in the Earth’s interior. The RWI method is characterized by a three-layer decomposition of the Earth’s topography that accounts for a rigorous separate modeling of the rock, water, and ice masses with variable density values. Furthermore, a modified Airy-Heiskanen isostatic concept is applied that is enhanced by additional geophysical information in terms of a seismologically derived depth model of the Mohorovicic discontinuity, i.e., the boundary surface between the Earth’s crust and mantle. To counteract the increased computational demand of the more complex modeling, an efficient numerical algorithm is needed for the forward modeling. For space domain GFM, it has become more and more customary to use a mass discretization based on tesseroids, which are mass bodies bounded by geocentric spherical coordinate lines, and hence are directly linked to the curvature of the Earth. Several studies have demonstrated their superiority over classical prism methods with respect to precision and computation time. However, for global applications based on high-resolution DTMs, any computational speed-up with respect to a single mass body leads to a massive improvement in the overall computation time. This thesis presents a considerable optimization of previously used tesseroid formulas, where the gravitational field of a tesseroid and its derivatives up to second-order are represented in a compact and computationally attractive form. This allows an efficient numerical evaluation that reduces the overall runtime by about 20 to 55%, depending on the evaluated gravity field functional. Additionally, to correctly locate topographic masses in space, tesseroids are arranged on an ellipsoidal reference surface. Within this thesis, the novel tesseroid-based RWI approach is applied to different topographic input data and is used for various gravity field functionals in two main applications. Both are connected to ESA’s satellite mission GOCE (Gravity field and steady-state Ocean Circulation Explorer) that measured the second-order derivatives of the gravitational potential, commonly known as gravity gradients. In the first application, RWI-based topographic-isostatic effects are calculated along the orbit of the GOCE satellite and are subtracted from the gravity gradient observations. In this way, the measurement signal is smoothed so that interpolation and prediction tasks, such as harmonic downward continuation of the gradients from satellite altitude to the Earth’s surface, can be executed with an improved numerical stability. While in previous studies such a concept was applied to simulated gravity gradients, this thesis presents the application to real GOCE measurements. As the smoothing effect strongly depends on the variability of the topography crossed by the satellite, this procedure is particularly suitable for regional applications. For a time series when the satellite passed the Himalayan region, a comparison of the observed gradients to the reduced ones reveals significant smoothing effects that are quantified by analyses in the space and frequency domain. The second application contributes to the task of height system unification, which aims to connect the different locally defined reference levels, conventionally used for national height systems. This is achieved by a satellite-based method which employs global geopotential models derived from data of the GOCE mission, whose limited spectral resolution is extended by high-frequency topographic effects of the RWI approach. To extract these high-frequency signals, a novel (residual) gravity forward modeling method is proposed that allows to perform the required high pass filtering directly in the gravity domain, thus, avoiding the above-mentioned assumption (iii) of the RTM method. By using three representative study areas in Germany, Austria, and Brazil, the benefit and importance of high-frequency topography-implied gravity signals for an accurate estimation of height datum offsets is demonstrated. As a highlight of this thesis, the RWI approach is utilized to generate a series of topographic-isostatic gravity field models. These RWI models provide a high-resolution representation of the Earth’s topographic-isostatic gravitational potential in terms of spherical harmonics expanded up to degree and order 1800 (Release 2012), and 2190 (Release 2015). The spherical harmonic coefficients of these models are obtained from a spherical harmonic analysis of global gridded potential values, which have been calculated by massive parallel computing on high-performance computer systems. By using spherical harmonic synthesis, the RWI model can be used to efficiently calculate various functionals of the topographic-isostatic potential in different heights. For this purpose, the RWI models are publicly available via the database of the International Centre for Global Earth Models (ICGEM) and have already been used in a wide range of studies by other research groups. Note de contenu : 1. Introductory chapter 2. Optimized formulas for the gravitational field of a tesseroid 3. A wavelet-based assessment of topographic-isostatic reductions for GOCE gravity gradients 4. The Rock-Water-Ice topographic gravity field model RWI TOPO 2015 and its comparison to a conventional rock-equivalent version 5. On high-frequency topography-implied gravity signals for height system unification 6. Height system unification based on the fixed GBVP approach Numéro de notice : 17488 Affiliation des auteurs : non IGN Thématique : POSITIONNEMENT Nature : Thèse étrangère Note de thèse : dissertation : : Karlsruhe Institute of Technology : 2017 En ligne : http://dx.doi.org/10.5445/KSP/1000068500 Format de la ressource électronique : URL Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=89828

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en open access Gravity forward modeling ... - pdf éditeur Adobe Acrobat PDF

Automatic modeling of building interiors using low-cost sensor systems / Ali Mohammad Khosravani (2016) 

Public Titre : Automatic modeling of building interiors using low-cost sensor systems Type de document : Thèse/HDR Auteurs : Ali Mohammad Khosravani, Auteur ; Dieter Fritsch, Directeur de thèse Editeur : Munich : Bayerische Akademie der Wissenschaften Année de publication : 2016 Collection : DGK - C, ISSN 0065-5325 num. 767 Importance : 134 p. ISBN/ISSN/EAN : 978-3-7696-5179-9 Note générale : bibliographie PhD Dissertation Langues : Anglais (eng) Allemand (ger) Descripteur : [Vedettes matières IGN] Applications photogrammétriques [Termes descripteurs IGN] carte d'intérieur [Termes descripteurs IGN] chambre de prise de vue numérique [Termes descripteurs IGN] espace image [Termes descripteurs IGN] espace objet [Termes descripteurs IGN] Kinect [Termes descripteurs IGN] modélisation 3D du bâti BIM Résumé : (auteur) Indoor reconstruction or 3D modeling of indoor scenes aims at representing the 3D shape of building interiors in terms of surfaces and volumes, using photographs, 3D point clouds or hypotheses. Due to advances in the range measurement sensors technology and vision algorithms, and at the same time an increased demand for indoor models by many applications, this topic of research has gained growing attention during the last years. The automation of the reconstruction process is still a challenge, due to the complexity of the data collection in indoor scenes, as well as geometrical modeling of arbitrary room shapes, especially if the data is noisy or incomplete. Available reconstruction approaches rely on either some level of user interaction, or making assumptions regarding the scene, in order to deal with the challenges. The presented work aims at increasing the automation level of the reconstruction task, while making fewer assumptions regarding the room shapes, even from the data collected by low-cost sensor systems subject to a high level of noise or occlusions. This is realized by employing topological corrections that assure a consistent and robust reconstruction. This study presents an automatic workflow consisting of two main phases. In the first phase, range data is collected using the affordable and accessible sensor system, Microsoft Kinect. The range data is registered based on features observed in the image space or 3D object space. A new complementary approach is presented to support the registration task in some cases where these registration approaches fail, due to the existence of insufficient visual and geometrical features. The approach is based on the user’s track information derived from an indoor positioning method, as well as an available coarse floor plan. In the second phase, 3D models are derived with a high level of details from the registered point clouds. The data is processed in 2D space (by projecting the points onto the ground plane), and the results are converted back to 3D by an extrusion (room height available from the point height histogram analysis). Data processing and modeling in 2D does not only simplify the reconstruction problem, but also allows for topological analysis using the graph theory. The performance of the presented reconstruction approach is demonstrated for the data derived from different sensors having different accuracies, as well as different room shapes and sizes. Finally, the study shows that the reconstructed models can be used to refine available coarse indoor models which are for instance derived from architectural drawings or floor plans. The refinement is performed by the fusion of the detailed models of individual rooms (reconstructed in a higher level of details by the new approach) to the coarse model. The model fusion also enables the reconstruction of gaps in the detailed model using a new learning-based approach. Moreover, the refinement process enables the detection of changes or details in the original plans, missing due to generalization purposes, or later renovations in the building interiors. Note de contenu : 1. Introduction 1.1. Motivation 1.2. Objectives 1.3. Outline and Design of the Thesis 2. Overview of Indoor Data Collection Techniques 2.1. State-of-the-Art Sensors for 3D Data Collection 2.2. The Registration Problem 3. Data Collection using Microsoft Kinect for Xbox 360 3.1. Point Cloud Collection by Kinect 3.2. Point Clouds Registration 3.3. Kinect SWOT Analysis 4. Overview of Available Indoor Modeling Approaches 4.1. Classification of Available Modeling Approaches 4.2. Iconic Approaches 4.3. Symbolic Approaches 5. Automatic Reconstruction of Indoor Spaces 5.1. Point Cloud Pre-Processing 5.2. Reconstruction of Geometric Models 6. Experimental Results and Analysis 6.1. Kinect System Calibration and Accuracy Analysis 6.2. Evaluation of the Reconstruction Approach 6.3. Quality of the Reconstructed Models 7. Application in the Refinement of Available Coarse Floor Models 7.1. Registration of Individual Detailed Models to an Available Coarse Floor Model 7.2. Fusion of Detailed Models to the Coarse Model 8. Conclusion 8.1. Summary 8.2. Contributions 8.3. Future Work Numéro de notice : 19789 Affiliation des auteurs : non IGN Thématique : IMAGERIE Nature : Thèse étrangère Note de thèse : PhD Dissertation : Photogrammetry : Stuttgart : 2016 Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=85007

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en open access Automatic Modeling of Building Interiors Using Low-Cost Sensor Systems Adobe Acrobat PDF

Crowd-sourced reconstruction of building interiors / Michael Peter (2016) 

Public Titre : Crowd-sourced reconstruction of building interiors Type de document : Thèse/HDR Auteurs : Michael Peter, Auteur ; Dieter Fritsch, Directeur de thèse Editeur : Munich : Bayerische Akademie der Wissenschaften Année de publication : 2016 Collection : DGK - C, ISSN 0065-5325 num. 768 Importance : 147 p. ISBN/ISSN/EAN : 978-3-7696-5180-5 Note générale : bibliographie Langues : Anglais (eng) Allemand (ger) Descripteur : [Vedettes matières IGN] Applications photogrammétriques [Termes descripteurs IGN] carte d'intérieur [Termes descripteurs IGN] cartographie collaborative [Termes descripteurs IGN] données localisées des bénévoles [Termes descripteurs IGN] échelle cartographique [Termes descripteurs IGN] image binaire [Termes descripteurs IGN] modélisation 2D [Termes descripteurs IGN] modélisation 3D du bâti BIM [Termes descripteurs IGN] navigation à l'estime [Termes descripteurs IGN] numérisation de carte [Termes descripteurs IGN] plan incendie [Termes descripteurs IGN] positionnement en intérieur [Termes descripteurs IGN] seuillage binaire [Termes descripteurs IGN] squelettisation [Termes descripteurs IGN] trace GPS Résumé : (auteur) Location-based services (LBS) have gained huge commercial and scientific interest in recent years, due to the ubiquitous and free availability of maps, global positioning systems, and smartphones. To date, maps and positioning solutions are mostly only available for outdoor use. However, humans spend most of their time indoors, rendering indoor LBS interesting for applications such as location-based advertisement, customer tracking and customer flow analysis. Neither of the two prerequisites for indoor LBS - a map of the user's environment and a positioning system - is currently generally available: Most positioning methods currently under scientific investigation are based either on fingerprint maps of electro-magnetic signals (e.g. WiFi) or inertial measurement units. To overcome the flaws of these methods, they are often supported by models for the human movement which in turn rely on indoor maps. Ready-made maps, on the other hand, are generally unavailable due to indoor mapping being mostly manual, expensive and tedious. The vast amount of unmapped indoor space therefore calls for the transfer of methods used by Volunteered Geographic Information (VGI) communities like OpenStreetMap to indoor mapping. These methods comprise the digitization of features of interest such as building outlines from aerial images released to the community and the use of position traces. In this thesis, approaches are illustrated which can serve to enable this transfer. On the one hand, the thesis shows how photographs of evacuation plans - which are a compulsory part of the safety equipment of publicly used buildings in many countries - can substitute for the aerial images in the indoor domain. Due to the standardised nature of such plans, the manual digitization employed by VGI mappers in the outdoor domain can be replaced by an automatic reverse-engineering pipeline. To this end, the image is pre-processed and symbols, which depict evacuation routes or emergency equipment, are detected. Subsequently, foreground objects (i.e. walls) are distinguished from the background using an adequate binarisation operation. Based on the binary image, the sought-after vector information can be extracted by skeletonisation and skeleton tracing. The model is finalised by a bridging operation of the previously detected symbols which occlude parts of walls or stairs. As the model resulting from these operations is only available in a coordinate system defined by the original image, the transformation to a world-coordinate system or, at least, the unknown scale has to be determined. To this end, the indoor model is matched to an available model of the building's external shell. By detection of stairs, an approximate floor height can be computed and the 2D model is extruded to a 3D model. On the other hand, geometric features and semantic annotations may be added to existing models using pedestrian traces recorded by an indoor positioning system. As suitable generally available and low-cost systems do not exist yet, their existence is simulated in this work by a dead-reckoning system basing on a foot-mounted inertial measurement system. Methods for the derivation of the initial position and orientation necessary for the application of such a system are shown, as well as methods enabling the correction of remaining errors. The latter comprise an alignment approach using the external building shell and a map-matching method which employs the existing coarse model derived from the evacuation plan. Building on the collected pedestrian traces, semi-automatic and automatic approaches for the existing models' semantic and geometric refinement are presented which range from semantic annotation using the analysis of photographed doorplates to automatic door reconstruction. Furthermore, a geometric update of single rooms by conjoint analysis of the coarse model, pedestrian traces and a hand-held low-cost range camera is described. Lastly, works of indoor mapping are presented which are based on pedestrian traces and higher-level knowledge about the interior structure of the building modelled in an indoor grammar. Due to the differing characteristics of the two central elements of building interiors, corridors and rooms, the grammar is composed of a Lindenmayer system modelling the floor's corridor system and a split grammar describing the room layout which is found in the non-corridor spaces. The grammar is put to the test by applying it to distributedly collected noisy trace data. Numéro de notice : 19790 Affiliation des auteurs : non IGN Thématique : GEOMATIQUE/INFORMATIQUE Nature : Thèse étrangère Note de thèse : PhD Dissertation : Photogrammetry : Stuttgart : 2016 nature-HAL : Thèse Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=85009

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en open access Crowd-sourced reconstruction of building interiors Adobe Acrobat PDF

Development of a SGM-based multi-view reconstruction framework for aerial imagery / Mathias Rothermel (2016) 

Public Titre : Development of a SGM-based multi-view reconstruction framework for aerial imagery Type de document : Thèse/HDR Auteurs : Mathias Rothermel, Auteur Editeur : Munich : Bayerische Akademie der Wissenschaften Année de publication : 2016 Autre Editeur : Stuttgart : University of Stuttgart Collection : DGK - C, ISSN 0065-5325 num. 792 Importance : 115 p. ISBN/ISSN/EAN : 978-3-7696-5204-8 Note générale : bibliographie PhD dissertation Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Traitement d'image optique [Termes descripteurs IGN] appariement d'images [Termes descripteurs IGN] carte de profondeur [Termes descripteurs IGN] image aérienne [Termes descripteurs IGN] image aérienne oblique [Termes descripteurs IGN] image oblique [Termes descripteurs IGN] modèle numérique de surface [Termes descripteurs IGN] pas d'échantillonnage au sol [Termes descripteurs IGN] reconstruction 3D [Termes descripteurs IGN] scène [Termes descripteurs IGN] SURE Résumé : (auteur) Advances in the technology of digital airborne camera systems allow for the observation of surfaces with sampling rates in the range of a few centimeters. In combination with novel matching approaches, which estimate depth information for virtually every pixel, surface reconstructions of impressive density and precision can be generated. Therefore, image based surface generation meanwhile is a serious alternative to LiDAR based data collection for many applications. Surface models serve as primary base for geographic products as for example map creation, production of true-ortho photos or visualization purposes within the framework of virtual globes. The goal of the presented theses is the development of a framework for the fully automatic generation of 3D surface models based on aerial images - both standard nadir as well as oblique views. This comprises several challenges. On the one hand dimensions of aerial imagery is consider-able and the extend of the areas to be reconstructed can encompass whole countries. Beside scalability of methods this also requires decent processing times and efficient handling of the given hardware resources. Moreover, beside high precision requirements, a high degree of automation has to be guaranteed to limit manual interaction as much as possible. Due to the advantages of scalability, a stereo method is utilized in the presented thesis. The approach for dense stereo is based on an adapted version of the semi global matching (SGM) algorithm. Following a hierarchical approach corresponding image regions and meaningful disparity search ranges are identified. It will be verified that, dependent on undulations of the scene, time and memory demands can be reduced significantly, by up to 90% within some of the conducted tests. This enables the processing of aerial datasets on standard desktop machines in reasonable times even for large fields of depth. Stereo approaches generate disparity or depth maps, in which redundant depth information is available. To exploit this redundancy, a method for the refinement of stereo correspondences is proposed. Thereby redundant observations across stereo models are identified, checked for geometric consistency and their reprojection error is minimized. This way outliers are removed and precision of depth estimates is improved. In order to generate consistent surfaces, two algorithms for depth map fusion were developed. The first fusion strategy aims for the generation of 2.5D height models, also known as digital surface models (DSM). The proposed method improves existing methods regarding quality in areas of depth discontinuities, for example at roof edges. Utilizing benchmarks designed for the evaluation of image based DSM generation we show that the developed approaches favorably compare to state-of-the-art algorithms and that height precisions of few GSDs can be achieved. Furthermore, methods for the derivation of meshes based on DSM data are discussed. The fusion of depth maps for 3D scenes, as e.g. frequently required during evaluation of high resolution oblique aerial images in complex urban environments, demands for a different approach since scenes can in general riot be represented as height fields. Moreover, depths across depth maps possess varying precision and sampling rates due to variances in image scale, errors in orientation and other effects. Within this thesis a median-based fusion methodology is proposed. By using geometry-adaptive triangulation of depth maps depth-wise normal arc extracted and, along the point coordinates are filtered and fused using tree structures. The outputs of this method are oriented points which then can be used to generate meshes. Precision and density of the method will be evaluated using established multi-view benchmarks. Beside the capability to process close range datasets, results for large oblique airborne data sets will be presented. The report closes with a summary, discussion of limitations and perspectives regarding improvements and enhancements. The implemented algorithms are core elements of the commercial software package SURE, which is freely available for scientific purposes. Numéro de notice : 17371 Affiliation des auteurs : non IGN Thématique : IMAGERIE Nature : Thèse étrangère Note de thèse : Dissertation : Photogrammetrische Bildverarbeitung : Stuttgart : 2016 Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=84247

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en open access Development of a SGM-based multi-view reconstruction framework Adobe Acrobat PDF

Entwicklung einer direkten Georeferenzierungseinheit zur Positions- und Orientierungbestimmung leichter UAVs in Eichzeit / Christian Eling (2016)

Public Titre : Entwicklung einer direkten Georeferenzierungseinheit zur Positions- und Orientierungbestimmung leichter UAVs in Eichzeit Type de document : Thèse/HDR Auteurs : Christian Eling, Auteur Editeur : Munich : Bayerische Akademie der Wissenschaften Année de publication : 2016 Collection : DGK - C, ISSN 0065-5325 num. 788 Importance : 107 p. Format : 21 x 30 cm ISBN/ISSN/EAN : 978-3-7696-5200-0 Note générale : bibliographie Langues : Allemand (ger) Descripteur : [Vedettes matières IGN] Photogrammétrie numérique [Termes descripteurs IGN] drone [Termes descripteurs IGN] géoréférencement direct [Termes descripteurs IGN] GPS-INS [Termes descripteurs IGN] magnétomètre [Termes descripteurs IGN] onde porteuse [Termes descripteurs IGN] photogrammétrie aérienne [Termes descripteurs IGN] système de numérisation mobile Résumé : (auteur) In recent years, Unmanned Aerial Vehicles (UAVs) have been used increasingly as mobile mapping platforms for kinematic applications in the field of geodesy. For this purpose a UAV is usually equipped with a mapping sensor, such as a camera or a laserscanner. A major step to make the collected data useful for surveying applications is the georeferencing, which associates the images or range measurements and the derived products (point clouds, orthofotos, 3D models) with a spatial reference. In this dissertation the development of a direct georeferencing system for real-time position and attitude determination of lightweight UAVs is presented. The term „direct" means that the georeferencing is based on an onboard multi-sensor system. Sensors, which are typically used in this context, are GPS (Global Positioning System) receivers, inertial sensors and magnetometers. For geodetic UAV-applications Micro-UAVs are usually applied, which have a weight limit of 5 kg. Therefore, weight, size and power supply constraints play an important role here. As a result of these limitations inertial sensors based on MEMS (Micro Electro Mechanical System) technology are mostly used. This technology enables the compliance with size and weight limits, but it also leads to significant drift effects in the position and attitude determination after a short period of time. To bound these drift effects and to be able to provide high accuracies (e.g. position: 5 cm, attitude: 0.5 deg) in the direct georeferencing of a Micro-UAV, a high availability of precise GPS carrier phase measurements is crucially important. As a consequence the following aspects will be addressed in this dissertation: • GPS carrier phase measurements are ambiguous by an unknown number of integer cycles. These so called ambiguities have to be resolved after every loss of lock of the satellite signals to fully exploit the high accuracies of the carrier phase observables. Since the satellite signals are interrupted frequently during kinematic applications, procedures are developed, implemented and evaluated, which enable a fast ambiguity resolution and allow for a high availability of CPS carrier phase measurements under challenging GPS measurement conditions. • With the aim to realize high accuracies and a high robustness, redundant information from several sensors is integrated in a sensible manner in sensorfusion algorithms In order to be able to deal with challenging GPS measurement conditions, the sensorfusion is realized at the level of GPS raw measurements in a tightly-coupled GPS/MEMS-IMU integration algorithm. In this way GPS carrier phase measurements can even be used, if less than four satellites are visible, which also increases the availability of a precise position estimation. The accuracy improvements of a tightly-coupled over a loosely-coupled integration during challenging GPS measurement conditions are investigated. • The algorithms are implemented on a multi-sensor system, which has been developed for the direct georeferencing of lightweight UAVs in this dissertation. Results of flight tests and measurements with a portable test system demonstrate that the developed direct georeferencing system leads to position accuracies of less than 5 cm and attitude (roll, pitch, yaw) accuracies of less than 0.2 deg, if GPS carrier-phase measurements are available. Overall, this dissertation gives detailed insights into the development of algorithms and a multi-sensor system for the direct georeferencing of lightweight UAVs in real-time. The findings gained in this thesis are not only valid for the position and attitude determination of lightweight UAVs but also for other mobile platforms, such as cars, ships, airplanes or rail-borne vehicles. Therefore, this work makes an important contribution to a current trend in the field of engineering geodesy, where mapping, monitoring and also setting-out is more and more realized using mobile mapping systems. Numéro de notice : 17380 Affiliation des auteurs : non IGN Thématique : IMAGERIE Nature : Thèse étrangère Note de thèse : Dissertation : : Rheinische Friedrich-Wilhelms-Universität Bonn : 2016 Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=84793

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Korrektur stationsabhängiger Fehler bei GNSS / Andreas Knöpfler (2015) 

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Time, atomics clocks and relativistic geodesy / Enrico Mai (2013)

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Effects on the geodetic-VLBI observables due to polarization leakage in the receivers / A. Roy (2012) 

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Entwicklung eines Kalman-Filters zur Bestimmung kurzzeitiger Variationen des Erdschwerefeldes aus daten der Satellitenmission GRACE / E. Kurtenbach (2012) 

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Johann Georg von Soldner (1776-1833) und seine Zeit ; Johann von Lamont (1805-1879) / J. Past (2005)

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Modelbasierte Segmentierung und Objekterkennung aus Distanzbildern / Johannes Böhm (2005)

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Modellgestützte Kostenprognose für den Aufbau qualitätsgesicherter Geodatenbestände / M. Stark (2005)

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Multi-Sensor-Photogrammetrie / Norbert Haala (2005)

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Nicht-lineare Sensitivitätsanalyse gezeigt an Beispielen zu bewegten Objekten / Volker Schwieger (2005)

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Theoreme über Bewegungsintegrale und ihre Anwendung in Bahntheorien / Monique Schneider (2005)

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Wavelettransformation hybrider Geländemodelle / G. Beyer (2005)

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Zur Parametrisierung radialsymmetrischer Dichtemodelle für die Erde / H. Wziontek (2005)

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Atmosphärische und ozeanische Einflüsse auf die Rotation der Erde - Nummerische Untersuchungen mit einem dynamischen Erdsystemmodell / Florian Seitz (2004)

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Automatische Extraktion urbaner Straßennetze aus Luftbildern / Stefan Hinz (2004)

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Das stochastische Modell bei der VLBI-Auswertung / V. Tesmer (2004)

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Effiziente Wavelet Filterung mit hoher Zeit-Frequenz-Auflösung / O. Fabert (2004)

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Ein integritätswahrendes Messsystem für kinematische Anwendungen / W. Stempfhuber (2004)

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Identifizierung konsistenter Datengruppen am Beispiel der Kongruenzuntersuchung geodätischer Netze / Frank Neitzel (2004)

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ITRS combination center at DGFI / Detlef Angermann (2004)

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Konzeption und Umsetzung eines Informationssystems zur geodätischen Deformationsanalyse / J. Zimmermann (2004)

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Modellierung von Oberflächen mit Diskontinuitäten / Andrzej Borkowski (2004)

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Simultane Schätzung von Topographie und Dynamik polarer Gletscher aus multi-temporalen SAR Interferogrammen / F.J. Meyer (2004)

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Statistical inference of the eigenspace components of a symmetric random deformation tensor / J. Cai (2004)

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Analyse und Optimierung geodätischer Messanordnungen unter besonderer Berücksichtigung des Intervallansatzes / S. Schön (2003)

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Automatische Extraktion von Bäumen aus Fernerkundungsdaten / B.M. Straub (2003)

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Automatische Extraktion von Straßen aus digitalen Luftbildern / A. Baumgartner (2003)

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Automatische Georeferenzierung von Fernerkundungsdaten / H. Hild (2003)

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Bauaufnahme als Modellierungsaufgabe / U. Weferling (2003)

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Hierarchical real-time recognition of compound objects in images / M. Ulrich (2003)

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National report of the Federal Republic of Germany on the geodetic activities in the years 1999-2003 [for] XXIII [23rd] general assembly of the International Union for Geodesy and Geophysics (IUGG) 2003 in Sapporo, Japan / B. Heck (2003)

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Parameterschätzung für unvollständige funktionale Modelle in der Geodäsie / S. Petrovic (2003)

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Schätzung von Vegetationsparametern aus multispektralen Fernerkundungsdaten / F. Kurz (2003)

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Zur Automation berührungsloser 3D-Objekterfassung im Nahbereich / M. Hovenbitzer (2003)

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Zur Bestimmung der GPS-Phasenmehrdeutigkeiten in großräumigen Netzen / K. Wienholz (2003)

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Zur Höhensystemumstellung und Geoidberechnung in Bayern / C. Gerlach (2003)

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3D-Erfassung und Objektrekonstruktion mittels Streifenprojektion / J. Guhring (2002)

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Am Puls von Raum und Zeit / J. Albetrz (2002)

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An integrated approach to the Conceptual Data Modeling of an entire highway agency Geographic Information System (GIS) / Hande Demirel (2002)

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Der Einfluss von Sekundäreffekten auf die Rotation der Erde / R. Dill (2002)

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Extraktion von Straßennetzen aus optischen Satellitenbilddaten / C. Wiedemann (2002)

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Generalisierte Orthogonalzerlegungen in der Ausgleichungsrechnung / G. Dinter (2002)

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Inverse Probleme bei der Gravitationsfelsbestimmung mittels SST- und SGG-Satellitenmissionen Darstellungen / J. Kusche (2002)

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Konzeption, Entwicklung und Erprobung eines digitalen integrierten flugzeuggetragenen Fernerkundungssystems für Precision Farming (PFIFF) / Görres Grenzdorffer (2002)

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Regelbasierte Interpretation unstrukturierter Vektorkarten / M. Weindorf (2002)

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Schwerefeldfunktionale im Gebirge / J. Flury (2002)

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Statistische Untersuchung ganzzahliger und reellwertiger unbekannter Parameter im GPS-Modell / B. Gundlich (2002)

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Untersuchung von alternativen Messverfahren zur Brückenüberwachung am Beispiel der Klosterwegbrücke / Heiner Kuhlmann (2002)

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Use of knowledge based systems for the detection and monitoring of unplanned developments / Faith Njoki Karanja (2002)  

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Vortrage beim 4. DFG-Rundgesprach im Rahmen des Forschungsvorhabens "Rotation der Erde" zum Thema "Wechselwirkungen im System Erde", Hollenstein/Wettzell, 8-9 Marz 2001 / Harald Schuh (2002)

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Zum Umgang mit Ungewissheit in der Geodäsie - Bausteine für eine neue Fehlertheorie / H. Kutterer (2002)

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Zur Bestimmung geometrischer Parameter von Industrierobotern / H. Nitschke (2002)

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2.5D-GIS und Geobasisdaten - Integration von Höheninformation und Digitalen Situationsmodellen / U. Lenk (2001)

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Automatisierung der kartographischen Verdrängung mittels Energieminimierung / Dirk Burghardt (2001)

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Berechnung kürzester Wege in Straßennetzen mit Wegeverboten / W. Schmid (2001)

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Die Satellitengradiometriemission GOCE - Theorie, technische Realisierung und wissenschaftliche Nutzung / J. Muller (2001)

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Dreidimensionale kinematische Modelle zur Analyse von Deformationen an Hängen / P. Rawiel (2001)

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Einfluss von Bildkompressionsverfahren auf die Qualität der digitalen Punktübertragung / M. Kiefner (2001)

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Genauigkeitsuntersuchungen zur GPS/INS-Integration in der Aerophotogrammetrie / Michael Cramer (2001)

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Integrierte Modelle zur physikalischen Interpretation geodätischer Deformationsuntersuchungen / I. Milev (2001)

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Leistungsfähigkeit fahrzeugautonomer Ortungsverfahren auf der Basis von Map-Matching-Techniken / R. Czommer (2001)

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A low cost documentation and retrieval system of distributed data sets for a historical town in Brazil / L.E. Renuncio (2001)

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Maßstabsabhängige Darstellungen in digitalen räumlichen Datenbeständen / Monika Sester (2001)

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On concepts for modeling the Earth's gravity field / Dieter Lelgemann (2001)

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Space gravity spectroscopy - The sensitivity analysis of GPS-tracked satellite missions (case study CHAMP) / C. Schäfer (2001)

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Wissensbasierte Interpretation von Vegetationsflächen aus multitemporalen Fernerkundungsdaten / Kian Pakzad (2001)

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Zur Berücksichtigung der geometrischen Objektunsicherheit in der Geoinformatik / M. Glemser (2001)

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Zur Lösung nichtlinearer Ausgleichungsprobleme bei der Bestimmung von Frequenzen in Zeitreihen / R. Mautz (2001)

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Aktualisierung hybrider geografischer Informationssysteme bei Energieversorgungsunternehmen durch amtliche Geobasisdaten / M. Stockwald (2000)

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Alongtrack-/Crossover-Verfahren und Spektralanalyse zur Trennung geodätisch-geophysikalischer Signale in Altimeterdaten / R. Stubenvoll (2000)

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Automatic recognition and 3D reconstruction of buildings from digital imagery / B. A. Shahrbi (2000)

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Der Mittelmeerraum. Numerische Modellierung der Lithosphärendynamik im Vergleich mit Ergebnissen aus der Satellitengeodäsie / O. Heidbach (2000)

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Deutsche Beiträge zu GPS-Kampagnen des Scientific Committee on Antarctic Research (SCAR) 1995-1998 / R. Dietrich (2000)

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Dreidimensionale Gebäuderekonstruktion aus digitalen Oberflächenmodellen und Grundrissen / C. Brenner (2000)

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Ein hybrides Meßsystem zur Kalibrierung von Strichteilungen / O. Freide (2000)

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Einfluß von Auflasteffekten auf präzise GPS-Messungen / Rolf Dach (2000)

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Entwicklung eines Meßsystems zur automatischen Erfassung differentieller Punktverschiebungen im Objektraum / J.J. Prenting (2000)

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Geo-Informationssysteme mit großmaßstäbigem Anwendungsbezug / M. Scheu (2000)

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Geoidbestimmung unter Verwendung verschiedener Dichtehypothesen / M. Kuhn (2000)

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Oberflächenrekonstruktion mit Hilfe einer Mehrbild-Shape-from-Shading-Methode / C. Piechullek (2000)

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Präzise Positionierung in regionalen GPS-Referenzstationsnetzen / Lambert Wanninger (2000)

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Regionale und globale Gravitationsfeldanalyse hochauflösender Satellitendaten mittels Mehrgitterverfahren / S. Rudolph (2000)

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Report on the symposium of the IAG subcommission for Europe (EUREF) held in Tromso, 22 - 24 June 2000 & reports of the EUREF Technical Working Group, EUREF publication n° 9 / Joao Agria Torres (2000)

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A semi-analytical approach to gravity field analysis from satellite observations / Nico Sneeuw (2000)

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Zur Entwicklung eines GPS-Programmsystems für Lehre und Tests unter besonderer Berücksichtigung der Ambiguity Function Methode / B. Zebhauser (2000)

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Absolute and relative gravimetry 1990-1992-1995 in the Western Yunnan earthquake prediction experimental area / Wolfgang Torge (1999)

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Analytical and numerical methods in gravity field modelling of ideal and real masses / Dimitrios Tsoulis (1999)

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Analytische Störungsrechnung mit ANALYTOS / O. Meyer (1999)

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Beschreibung von Deformationsprozessen durch Volterra- und Fuzzy-Modelle sowie neuronale Netze / K. Heine (1999)

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Das Deutsche Schweregrundnetz 1994 (DSGN94) / Wolfgang Torge (1999)

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Dreidimensionale Objektrekonstruktion mit digitalen Dreizeilenscannerdaten des Weltraumprojekts MOMS-02/D2 / W. Kornus (1999)

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Funktionalität des internetbasierten 3D-Campus-Informationssystems der Universität Karlsruhe (CISKA) / S. Landes (1999)

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Gravito-Viskoelastodynamik für verallgemeinerte Rheologienmit Anwendungen auf den Jupitermond lo und die Erde / K. Wieczerkowski (1999)

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Klassifikation und Interpolation mittels affin invarianter Voronoidiagramme auf der Basis eines Wahrscheinlich- keitsmaßes in großmaßstäbigen Geoinformationssystemen / R. Roschlaub (1999)

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National report of the Federal Republic of Germany on the geodetic activities in the years 1995 - 1999 / B. Heck (1999)

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Report on the Symposium of the IAG Subcommission for Europe (EUREF) held in Prague, 2 - 5 June 1999 & reports of the EUREF Technical Working Group, EUREF Publication n° 8 / Erich Gubler (1999)

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Segmentierung und Interpretation digitaler Bilder mit Markoff-Zufallsfeldern / J. Klonowski (1999)

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Simultane Neuausgleichung des globalen 3D-Mars-Netzes / W. Zeitler (1999)

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Verfeinerung und objektorientierte Implementierung eines Modells zur Nutzung von Lasermessungen zum Mond / B. Reichhoff (1999)

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Von der 2oeD- zur 3D-Flächenmodellierung für die photogrammetrische Rekonstruktion im Objektraum / W. Kornus (1999)

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Zur Geokinematik im sächsischen Vogtland / J. Wendt (1999)

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Anwendungen der satellitengestützten Radarinterferometrie zur Bestimmung von Topographie und Geschwindig-keitsfeldern / X. Wu (1998)

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Ausgleichung mit singulärer Varianzkovarianzmatrix am Beispiel der geometrischen Deformationsanalyse / G. Nkuite (1998)

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Automatische Objektextraktion aus digitalen Luftbildern / H. Mayer (1998)

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Bestimmung von Oberflächengeometrie, Punktbewegungen und Geoid in einer Region der Antarktis / W. Korth (1998)

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Datenmodellierung für Gleisnetze und Schaffung eines einheitlichen Raumbezugssystems / F. Gielsdorf (1998)

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Eine neue Methode zur dreidimensionalen Radarabbildung von Oberflächen / M. Hohmann (1998)

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Entwicklung und Erprobung eines Systems zur objektbezogenen tachymetrischen Datenerfassung mittels Telemetrie / A. Schluchter (1998)

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Extraktion polymorpher Bildstrukturen und ihre topologische und geometrische Gruppierung / C. Fuchs (1998)

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Geoidbestimmung mit geopotentiellen Koten / M. Feistritzer (1998)

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GPS und GLONASS als Teil eines hybriden Meßsystems in der Geodäsie am Beispiel des Systems HIGGINS / A. Mathes (1998)

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Helmut Wolf / Erik W. Grafarend (1998)

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Lasermessungen nach Erdsatelliten auf zwei Wellenlängen unter Verwendung einer Streak-Kamera / S. Riepl (1998)

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On the Unification of Indonesian Local Height Systems / Khafid (1998)

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Ortung von eindeutig identifizierbaren Zielen und kodierten Transpondern / D. Hounam (1998)

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Rasterbasierte Methoden zur Gebäudeextraktion aus gescannten Karten / R. Brugelmann (1998)

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The curvilinear datum transformation / F.I. Okeke (1998)

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Uncertainty in parameter estimation for nonlinear dynamical models / C. Droste (1998)

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Untersuchungen zur geometrischen Datenkonsistenz von ATKIS-Bayern / S. Rossipal (1998)

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Verwendung und Bewertung von a-priori Information bei potentiell singulären Inversionsproblemen am Beispiel der gravimetrischen Bestimmung von Dichteverteilungen / P.L. Smilde (1998)

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Zwei Abhandlungen zu den mathematischen Grundlagen der Geodäsie / E. Martensen (1998)

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Analyse und Vergleich unterschiedlicher Modelle der dreidimensionalen Geodäsie / U. Klein (1997)

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Aufbereitung und Nutzung von Pegelmessungen für geodätische und geodynamische Zielstellungen / G. Liebsch (1997)

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Die Anwendung der Ausgleichungsrechnung auf elastomechanische Systeme / D. Ströbel (1997)

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Dreidimensionale Qualitative Gebäuderekonstruktion / L. Taleki (1997)

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Ellipsoidische und topographische Effekte im geodätischen Randwertproblem / Kurt Seitz (1997)

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Gebäudeerfassung aus Digitalen Oberflächenmodellen / U. Weidner (1997)

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Genauigkeit geometrischer Größen aus Vektordaten / F. Bethge (1997)

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GIS-basierte Quantifizierung der Denudation im Zentralen Kenia Rift / S. Rössner (1997)

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Gravitational Viscoelastodynamics for a Hydrostatic Planet [Viscoélastodynamique gravitationnelle pour une planète hydrostatique] / D. Wolf (1997)

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Hochpräzise Positionierung über große Entfernungen und in Echtzeit mit dem Global Positioning System / S. Leinen (1997)

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Kartengestützte Interpretation monokularer Luftbilder / F. Quint (1997)

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Linienextraktion aus SAR-Daten mit einem Markoff-Zufallsfeld-Modell / O. Hellwich (1997)

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Modelling and Inversion of High Precision Gravity Data / E. Lewi (1997)

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Report on the symposium of the IAG subcommission for Europe (EUREF) held in Sofia, 4 - 7 June 1997 & reports of the EUREF technical working group, EUREF publication n° 6 / Erich Gubler (1997)

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Satellite orbit integration based on canonical transformations with special regard to the resonance and coupling effects / C. Cui (1997)

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Satellitengeodäsie und Langbasis-Interferometrie auf der Fundamentalstation Wettzell / K.H. Ilk (1997)

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Studies on the use of the boundary element method in physical geodesy / R. Lehmann (1997)

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Zuordnung von raumbezogenen Daten, am Beispiel der Datenmodelle ATKIS und GDF / Volker Walter (1997)

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Zur Analyse und Optimierung von Transportnetzen / R. Röder (1997)

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Zur präzisen Berechnung der Oberflächenkräfte eines erdgebundenen Satelliten auf Basis der Hill-Variablen. Ein quasi-universelles Bahnintegrationsprogramm / K. Arfa-Kaboodvand (1997)

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Analyse und Numerik überbestimmter Randwertprobleme in der Physikalischen Geodäsie / M. Hirsch (1996)

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Aufbau eines operablen inertialen Vermessungssystems zur Online-Verarbeitung in der Geodäsie auf Basis eines kommerziellen Strapdown Inertialsystems / O. Heinze (1996)

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Bestimmung geodynamischer Effekte mit Hilfe der Radarinterferometrie / Y. Xia (1996)

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Die Weiterführung der geodätischen Arbeiten der Internationalen glaziologischen Grönland-Expedition (EGIG) durch das Institut für Vermessungskunde der TU Braunschweig 1987-1993 / C. Homann (1996)

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Ein hybrides System in der Geodäsie. Einsatz des NAVSTAR GPS mit dem Strapdown-Inertial-Navigations- system LASERNAV II für kinematische Punktbestimmung und Orientierung / Wolfgang Söhne (1996)

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Ein neuer Ansatz zur kartographischen Verdrängung auf der Grundlage eines mechanischen Federmodells / Joachim Bobrich (1996)

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Entwicklung eines Meßsystems zur automatischen polaren Objekterfassung am Beispiel der Bauaufnahme / P. Buchmann (1996)

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Entwicklung und Erprobung eines abbildenden Laseraltimeters für den Flugeinsatz unter Verwendung des Mehrfrequenz- Phasenvergleichsverfahrens / C. Hug (1996)

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Entwicklung und Erprobung eines Positionierungssystems für den lokalen Anwendungsbereich / C. Ziegler (1996)

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Erfassung und Rekonstruktion raumbezogener Objekte in Vektorform / M. Scheu (1996)

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Ergebnisse geodätischer Arbeiten im Gebiet der Schirmacheroase, Antarktika 1988-1993 / W. Korth (1996)

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Gebäuderekonstruktion durch Kombination von Bild- und Höhendaten / Norbert Haala (1996)

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Genauigkeitssteigerung bei kurzzeit-statischen und kinematischen Satellitenmessungen bis hin zur Echtzeitanwendung / M. Gianniou (1996)

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Geometrische Modellierung innerer und äußerer Deformationen der Erdoberfläche mit Anwendungen an der Nord-anatolischen Verwerfung und in der Westtürkei / Y. Altiner (1996)

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Integration von Form- und Spektralmerkmalen durch künstliche neuronale Netze bei der Satellitenbildklassifizierung / Karl Segl (1996)

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Klassifizierung von multispektralen Bildern unter Verwendung der Clusterformen im Merkmalsraum / M. Zahn (1996)

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Konzeptionelle Untersuchung für ein ziviles Satellitennavigationssystem / K. Thiel (1996)

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Lokale, regionale und globale Punktbestimmung mit Dreizeilenbilddaten und Bahninformation der Mars 96-Mission / T. Ohlhof (1996)

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Relativistic modeling for geodetic experiments in local spacetimes / J. Kusche (1996)

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Report on the symposium of the IAG Subcommission for the European Reference Frame (EUREF) & Reports of the EUREF Technical Working Group, EUREF publication n° 5 / Erich Gubler (1996)

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Sea surface determination with respect to European Vertical Datums / L. Fenoglio-Marc (1996)

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The Geodetic Antarctic Project GAP95. German contributions to the SCAR 95 Epoch campaign / R. Dietrich (1996)

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Unsichere topologische Beziehungen zwischen ungenauen Flächen / Stephan Winter (1996)

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Wavelets für das Facetten-Stereosehen / J. Tsay (1996)

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Zur Bahndynamik niedrigfliegender Satelliten / M. Scheinert (1996)

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Analyse der GPS-Alpentraverse / M. Vogel (1995)

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Beiträge zur gemeinsamen Ausgleichung von terrestrischen Lagenetzen und GPS-Verdichtungsnetzen für das Gebiet der neuen Bundesländer / G. Reichardt (1995)

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Bildsequenzanalyse für die passive Navigation / M. Hahn (1995)

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Die Berechnung von Minimalflächen, Seifenblasen, Membrane und Pneus aus geodätischer Sicht / P. Singer (1995)

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Digitale photogrammetrische Arbeitsstationen / Christian Heipke (1995)

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Ein Beitrag zur Berechnung des Zuschnitts von vorgespannten Membranen / J. Bäuerle (1995)

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Entwicklung eines Meßsystems zur Ermittlung von Turbulenzparametern der Atmosphäre für Anwendungen in der Geodäsie / Maria Hennes (1995)

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