Article
Engineering, Electrical & Electronic
Minh Long Hoang, Antonio Pietrosanto
Summary: The paper proposes a practical model based on the NMNI principle to achieve highly accurate measurement of yaw/heading, optimize the MEMS gyroscope, and remove drift effectively. By collaborating with other MEMS sensors, it can replace the GPS system in indoor environments, and the experiments verify the pros and cons of filters and the impact of high slope and rotation speed on sensor behavior.
SENSORS AND ACTUATORS A-PHYSICAL
(2021)
Article
Engineering, Multidisciplinary
Minh Long Hoang, Antonio Pietrosanto
Summary: The main objective of this paper is to achieve high accuracy of yaw/heading using a Machine Learning approach when the motion range of vehicle/device calibration is limited. The proposed solution utilizes a nonlinear Random Forest Regression model to handle magnetometer uncertainty and iron distortion cases. The results show that the Machine Learning model can accurately track the yaw value even in harsh conditions.
Article
Engineering, Multidisciplinary
Daniel Engelsman, Itzik Klein
Summary: Modern navigation solutions heavily rely on the performance of standalone inertial sensors, especially when external sources are not available. However, during these outages, the inertial navigation solution can degrade over time due to instrumental noise, especially with consumer low-cost inertial sensors. Traditional model-based estimation algorithms are often challenging to optimize due to differences in sensor performance, noise modeling, and calibration precision.
Article
Computer Science, Interdisciplinary Applications
Taylan Ocalan, Tarik Turk, Nursu Tunalioglu, Mert Gurturk
Summary: This study examines the performance of PPP and PPP-AR solutions for kinematic GNSS data obtained from UAVs, comparing them with PPK solutions based on relative positioning. The potential of the PPP-AR approach in terms of quality and accuracy in UAV photogrammetry has been demonstrated.
EARTH SCIENCE INFORMATICS
(2022)
Article
Environmental Sciences
Mustafa Zeybek, Selim Taskaya, Ismail Elkhrachy, Paolo Tarolli
Summary: This study focuses on using image-based techniques such as structure from motion (SfM) to produce high-accuracy topographic maps using unmanned aerial vehicles (UAVs) and minimal surface measurements. Real-time kinematic (RTK) has been used to increase positional accuracy to 1-3 times the ground sampling distance (GSD). The study evaluates the post-processing kinematic (PPK) approach for achieving high positional accuracy with UAV image georeferencing and assesses the impact of different flight patterns and altitudes on the accuracy of the resulting topographic maps.
Article
Engineering, Multidisciplinary
Mustafa Zeybek
Summary: This study tested and compared the positional accuracy of benchmarks and point clouds produced on three consecutive days using different flight combinations at 75 and 100 m flight altitude. The results showed that UAV data can achieve acceptable positional accuracy levels without the need for GCPs.
MEASUREMENT SCIENCE AND TECHNOLOGY
(2021)
Article
Environmental Sciences
Paul Ryan Nesbit, Stephen M. Hubbard, Chris H. Hugenholtz
Summary: Steep rock slopes provide opportunities and challenges in Earth science applications. Direct georeferencing of UAVs can generate high-resolution 3D datasets, but large vertical errors may occur in near-vertical terrains. Multiple image angles result in the highest precision, while ground control points greatly reduce mean errors.
Article
Geochemistry & Geophysics
Keke Zhang, Xingxing Li, Jiaqi Wu, Yongqiang Yuan, Xin Li, Xiaohong Zhang, Wei Zhang
Summary: This study comprehensively analyzes the differences in products, implementation details, and ambiguity fixing performance for different IAR methods in LEO precise orbit determination based on one-year observations of GRACE-FO and Sentinel-3 missions. The results show that the accuracy improvement of orbit varies with the adopted IAR methods, with SD IAR contributing to a reduction of 1-4 mm in SLR residuals compared to float solutions. The application of bias products from different analysis centers has marginal differences for ambiguity fixing.
JOURNAL OF GEOPHYSICAL RESEARCH-SOLID EARTH
(2021)
Article
Chemistry, Analytical
Fan Bo, Jia Li, Weibing Wang, Kaiyue Zhou
Summary: Robust and accurate attitude and heading estimation is crucial for various applications, such as pedestrian dead reckoning, human motion tracking, and Micro Aerial Vehicles (MAVs). However, the accuracy of the Attitude and Heading Reference System (AHRS) is often compromised by noisy low-cost MEMS-IMUs and external disturbances. To address this, we propose a novel data-driven IMU calibration model using Temporal Convolutional Networks (TCNs) to denoise sensor data. Our method outperforms baseline methods and complementary filters on absolute attitude and yaw error metrics by more than 23.4% and 23.9%, demonstrating its robustness across different devices and motion patterns.
Article
Environmental Sciences
Ansgar Dreier, Jannik Janssen, Heiner Kuhlmann, Lasse Klingbeil
Summary: This paper examines the quality analysis of direct georeferencing of a UAV-based laser scanning system, showing that the system has a precision of <1.2 cm in both horizontal and vertical directions, and an absolute accuracy of <2 cm horizontally and <4 cm vertically compared to TLS reference. The study also investigates the influence of different GNSS master stations, finding no significant difference between VRS and dedicated master stations.
Article
Remote Sensing
Xingxing Li, Yujie Qin, Keke Zhang, Jiaqi Wu, Wei Zhang, Qian Zhang, Hongmin Zhang
Summary: This study provides a comprehensive analysis of the benefit of single-receiver Integer Ambiguity Resolution (IAR) in improving the positioning performance of Low Earth Orbit (LEO) satellites. The results show that ambiguity fixing processing significantly improves the accuracy of LEO orbits and the relative accuracy of space baselines. This technique holds promise for future LEO constellations.
GEO-SPATIAL INFORMATION SCIENCE
(2022)
Article
Chemistry, Analytical
Bernardo Santana, El Khalil Cherif, Alexandre Bernardino, Ricardo Ribeiro
Summary: The application of aerial vehicle images for observing fires in forest environments is limited by the lack of distinctive visual features. To address this issue, a real-time forest fire georeferencing and filtering algorithm was developed, which showed promising results in terms of georeferencing accuracy and filtering performance.
Article
Environmental Sciences
Songfeng Yang, Qiyuan Zhang, Xi Zhang, Donglie Liu
Summary: PPP-AR is an important high-precision positioning tool based on multiple GNSS constellations, but unmodeled satellite and receiver biases can make it difficult to fix carrier-phase ambiguities. IGS provides accurate integer clock and satellite attitude products to address this issue, although their quality and positioning performance in multi-GNSS PPP-AR have not been investigated.
Proceedings Paper
Automation & Control Systems
Xuan Zhou, Yi Chen, Yaohua Liu, Jinxing Hu
Summary: This paper proposes a novel sensor fusion method for UAV localization based on InEKF and LIEKF in MATLAB. The method improves the accuracy of UAV positioning by using IMU data for prediction and GPS data for correction, and outperforms traditional EKF in both simulated data and Zurich Urban Dataset in terms of attitude and position estimation.
2021 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (IEEE-ROBIO 2021)
(2021)
Article
Remote Sensing
Shiwei Guo, Chuang Shi, Na Wei, Min Li, Lei Fan, Di Zhang
Summary: This study evaluates the performance of ambiguity resolution in sub-daily position estimates and finds that using ambiguity resolution can reduce draconitic errors, especially in the East component. The reduction of draconitic errors also shows a latitudinal dependence.
Article
Geography, Physical
Jana Eichel, Daniel Draebing, Teja Kattenborn, Johannes Antenor Senn, Lasse Klingbeil, Markus Wieland, Erik Heinz
PERMAFROST AND PERIGLACIAL PROCESSES
(2020)
Article
Biochemical Research Methods
Behrend Heeren, Stefan Paulus, Heiner Goldbach, Heiner Kuhlmann, Anne-Katrin Mahlein, Martin Rumpf, Benedikt Wirth
BMC BIOINFORMATICS
(2020)
Article
Geography, Physical
Laura Zabawa, Anna Kicherer, Lasse Klingbeil, Reinhard Toepfer, Heiner Kuhlmann, Ribana Roscher
ISPRS JOURNAL OF PHOTOGRAMMETRY AND REMOTE SENSING
(2020)
Article
Geochemistry & Geophysics
Arturo Villiger, Rolf Dach, Stefan Schaer, Lars Prange, Florian Zimmermann, Heiner Kuhlmann, Gerhard Wuebbena, Martin Schmitz, Gerhard Beutler, Adrian Jaggi
JOURNAL OF GEODESY
(2020)
Article
Chemistry, Analytical
Guanqing Li, Lasse Klingbeil, Florian Zimmermann, Shengxiang Huang, Heiner Kuhlmann
Article
Environmental Sciences
Christoph Holst, Jannik Janssen, Berit Schmitz, Martin Blome, Malte Dercks, Anna Schoch-Baumann, Jan Bloethe, Lothar Schrott, Heiner Kuhlmann, Tomislav Medic
Summary: This article investigates the usage of TLS point clouds for monitoring solifluction processes, developing a workflow to capture soil mass displacement. Results showed that the method achieved similar accuracy to established approaches, but with higher spatial resolution.
Article
Environmental Sciences
Ansgar Dreier, Jannik Janssen, Heiner Kuhlmann, Lasse Klingbeil
Summary: This paper examines the quality analysis of direct georeferencing of a UAV-based laser scanning system, showing that the system has a precision of <1.2 cm in both horizontal and vertical directions, and an absolute accuracy of <2 cm horizontally and <4 cm vertically compared to TLS reference. The study also investigates the influence of different GNSS master stations, finding no significant difference between VRS and dedicated master stations.
Article
Geography, Physical
B. Schmitz, H. Kuhlmann, C. Holst
Summary: This study aims to progress the empirical determination of correlations in TLS range observations by investigating short-scale correlations. Two methods are proposed to determine spatial correlations between TLS range observations, evaluated for simulated laser scans, and then applied to empirical data of four different terrestrial laser scanners. The results show the existence of short-scale correlations and the potential to quantify relevant parameters to fill the VCM, while also highlighting the importance of considering changes in correlation length with different scanning configurations.
ISPRS JOURNAL OF PHOTOGRAMMETRY AND REMOTE SENSING
(2021)
Article
Remote Sensing
Jannik Janssen, Heiner Kuhlmann, Christoph Holst
Summary: In this paper, the target-based registration method in terrestrial laser scanning projects is extended by including the plane orientation information. The benefits of this extension in terms of precision and reliability are analyzed and discussed. Through simulations and case studies, it is found that the extension brings significant advantages, especially for registrations with bad geometric configurations, enabling much more precise registrations.
JOURNAL OF APPLIED GEODESY
(2022)
Article
Agricultural Engineering
Laura Zabawa, Anna Kicherer, Lasse Klingbeil, Reinhard Topfer, Ribana Roscher, Heiner Kuhlmann
Summary: Yield estimation is crucial in viticulture, and traditional methods involving sampling and laboratory analysis are time-consuming and approximate. Recent research has focused on sensor-based systems mounted on field vehicles, but few studies have explored actual yield estimation. This study presents a novel pipeline using a multi-camera system to capture images and a neural network for berry counting, extending the processing from single-vine to plant and row levels. The pipeline achieves a mean absolute yield prediction error of 26% in the vertical shoot positioned system.
BIOSYSTEMS ENGINEERING
(2022)
Article
Remote Sensing
Gereon Tombrink, Ansgar Dreier, Lasse Klingbeil, Heiner Kuhlmann
Summary: In this paper, a methodology for evaluating trajectories is proposed. The methodology is based on repeated measurements obtained using a closed loop rail track, allowing the evaluation of trajectory accuracy and precision. The method is demonstrated by evaluating a low-cost inertial navigation system.
JOURNAL OF APPLIED GEODESY
(2023)
Article
Environmental Sciences
Felix Esser, Lasse Klingbeil, Lina Zabawa, Heiner Kuhlmann
Summary: Spatio-temporal determination of phenotypic traits in modern agriculture and crop science is crucial for understanding crop growth and development. Existing measurement techniques, such as laser scanning and image-based 3D reconstruction, can only be used in greenhouse environments. This paper introduces the usage of a high-resolution mobile laser scanning system mounted on a robot for plant and organ-level phenotyping in agricultural field conditions. The point cloud quality and system potential are evaluated, and the impact of wind-induced plant jitter on the crop point cloud quality is discussed.
Article
Automation & Control Systems
Felix Esser, Radu Alexandru Rosu, Andre Cornelissen, Lasse Klingbeil, Heiner Kuhlmann, Sven Behnke
Summary: This article introduces a robotic platform equipped with multiple laser and camera sensors for high-throughput, high-resolution in-field plant scanning. By creating digital twins of the plants through 3D reconstruction, the system is able to estimate phenotypic traits accurately. Validation on real fields shows that the system can reconstruct point clouds and meshes of plants with high accuracy.
IEEE ROBOTICS & AUTOMATION MAGAZINE
(2023)
Article
Remote Sensing
Berit Schmitz, Heiner Kuhlmann, Christoph Holst
Summary: This study investigates the stability of the Bonn reference wall and finds daily wall movements of about 1 mm, increasing to 7 mm over the course of a year. To correct for these movements in scans, two dynamic deformation models are proposed.
JOURNAL OF APPLIED GEODESY
(2021)
