Popis článkuPrvé skúsenosti s použitím neseného inerciálneho navigačního systému v lesnom prostredí.
[First experience with pedestrian inertial navigation systém application in forest conditions] 203 - 212.
|Název článku:||Prvé skúsenosti s použitím neseného inerciálneho navigačního systému v lesnom prostredí|
|Autor:||Ján Tuček, Miroslav Kardoš, Julián Tomaštík|
As an alternative for localization using global navigation satellite systems (GNSS) under conditions with poor signal reception and quality of the position solution reached, the devices integrating GNSS with inertial navigation system (INS) are promoted. The same applies to guidance, navigation, positioning and orientation of the aircraft, ships as well as terrestrial vehicles and pedestrian cared equipment. Specific requirements exist also in relation to the location of the sensors in advanced technology for collecting of different kinds of geographic information. This paper provides a brief overview of knowledge concerned to related areas, and presents the results of experimental GNSS/INS equipment testing. The test apparatus consists of NovAtel GNSS receiver ProPak6, inertial surveying unit IMU-KVH1750, and GNSS antenna Novatel GPS-703-GGG. Software Inertial Explorer 8.60 was used for data processing. Testing was conducted in the summer 2015 on the polygon formed by 59 points organized into three tracks/lines in the forest canopy conditions. Mean value of the positional deviation, when compared differential GNSS solutions and deeply integrated (tightly couplet) and smoothed GNSS/INS solutions, decreased by 1.51 to 2.11 meters, which represents 31–52%. Values of the standard deviation of error (variance) were reduced by 0.91 to 1.43 meters (11–68%) for all three tracks. To be useful for applications in forestry, next knowledge resources can be regarded mainly to (i) the field of platforms and sensors positioning for data gathering for the geographic information creation, (ii) the area of pedestrian navigation especially in the external environment, and (iii) the area of improving the GNSS/INS integration, both in terms of integration solutions as well as the used components parameters.