Print Email Facebook Twitter Integrated GNSS attitude determination and positioning for direct geo-referencing Title Integrated GNSS attitude determination and positioning for direct geo-referencing Author Nadarajah, N. Paffenholz, J.A. Teunissen, P.J.G. Faculty Civil Engineering and Geosciences Department Geoscience & Remote Sensing Date 2014-07-17 Abstract Direct geo-referencing is an efficient methodology for the fast acquisition of 3D spatial data. It requires the fusion of spatial data acquisition sensors with navigation sensors, such as Global Navigation Satellite System (GNSS) receivers. In this contribution, we consider an integrated GNSS navigation system to provide estimates of the position and attitude (orientation) of a 3D laser scanner. The proposed multi-sensor system (MSS) consists of multiple GNSS antennas rigidly mounted on the frame of a rotating laser scanner and a reference GNSS station with known coordinates. Precise GNSS navigation requires the resolution of the carrier phase ambiguities. The proposed method uses the multivariate constrained integer least-squares (MC-LAMBDA) method for the estimation of rotating frame ambiguities and attitude angles. MC-LAMBDA makes use of the known antenna geometry to strengthen the underlying attitude model and, hence, to enhance the reliability of rotating frame ambiguity resolution and attitude determination. The reliable estimation of rotating frame ambiguities is consequently utilized to enhance the relative positioning of the rotating frame with respect to the reference station. This integrated (array-aided) method improves ambiguity resolution, as well as positioning accuracy between the rotating frame and the reference station. Numerical analyses of GNSS data from a real-data campaign confirm the improved performance of the proposed method over the existing method. In particular, the integrated method yields reliable ambiguity resolution and reduces position standard deviation by a factor of about 0.8, matching the theoretical gain of 3/4???? for two antennas on the rotating frame and a single antenna at the reference station. Subject global navigation satellite system (GNSS)attitude determinationmultivariate constrained integer least-squares (MC-LAMBDA)carrier phase ambiguity resolutiondirect geo-referencing; laser scanner To reference this document use: http://resolver.tudelft.nl/uuid:bfef466f-b664-47b5-992c-88b676aa9192 DOI https://doi.org/10.3390/s140712715 Publisher MDPI ISSN 1424-8220 Source Sensors, 14 (7), 2014 Part of collection Institutional Repository Document type journal article Rights (c) 2014 The Author(s)This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. Files PDF 307768.pdf 6 MB Close viewer /islandora/object/uuid:bfef466f-b664-47b5-992c-88b676aa9192/datastream/OBJ/view