UID:
kobvindex_GFZBV046924745
Umfang:
165 Seiten
,
Diagramme, Karten
ISBN:
9783769652673
Serie:
Wissenschaftliche Arbeiten der Fachrichtung Geodäsie und Geoinformatik der Universität Hannover Nr. 363
Anmerkung:
Dissertation Gottfried Wilhelm Leibniz Universität Hannover 2020
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1 Introduction
1.1 Motivation and Research Questions
1.2 Objective Definition and Contributions
1.3 Outline of the Thesis
2 Theory and Related Work in Geodetic Network Analysis
2.1 Parameter Estimation in a Gauß - Markov Model
2.2 Parameter Estimation in a Gauß - Helmert Model
2.3 Geodetic Network Optimization: Theoretical Background and Related Work
2.3.1 Network Quality Criteria
2.3.2 Objective Functions and Optimality Criteria
2.3.3 Types of Optimization Problems
2.4 Discussion
3 Theoretical Background in Positioning and Navigation
3.1 Global Navigation Satellite Systems
3.1.1 GNSS Observables
3.1.2 GNSS positioning techniques
3.2 Inertial Navigation Systems
3.2.1 Coordinate Frames
3.2.2 Mechanization in the Navigation Frame
3.2.3 INS/GNSS Integration
3.3 Filtering Techniques
3.3.1 Bayes Filter
3.3.2 Kalman Filter
3.3.3 Linearized Kalman Filter
3.3.4 Extended Kalman Filter
3.4 Multi-Sensor Fusion
3.4.1 Laser Scanner
3.4.2 Stereo Cameras
3.4.3 Localization Versus Simultaneous Location and Mapping
4 State of the art in Collaborative Positioning
4.1 Introduction
4.2 Communication Architectures
4.3 Collaborative Positioning
4.3.1 GNSS Collaborative Positioning Approaches
4.3.2 Inertial Measurement Collaborative Positioning
4.3.3 Collaborative Positioning with Laser Scanner
4.3.4 Collaborative Positioning with Vision-Based Sensors
4.3.5 Collaborative Positioning Using Other Sensors
4.4 Simulation Technologies
4.4.1 Simulation Environments: Overview
4.4.2 Monte Carlo Methods
4.5 Discussion
5 Simulation Framework for Collaborative Scenarios
5.1 Design and Implementation
5.1.1 Vehicle Trajectories Simulator
5.1.2 Environmental Model
5.1.3 Measurement Generation
5.1.4 Collaborative-Extended Kalman Filter
5.1.5 Collaborative SLAM
5.1.6 Localization with Landmark Uncertainty
5.2 Application Example
5.2.1 Scenario and Setup
5.2.2 Sample Run
5.3 Discussion
6 Sensitivity Analysis of Dynamic Sensor Networks
6.1 Geodetic Network Optimization Problems for Dynamic Networks
6.2 Best Sensor Combination
6.2.1 Scenario and Sensor Setup
6.2.2 Sensitivity Results
6.3 Vehicle Dynamics Evaluation
6.3.1 Simulation Scenario and Setup
6.3.2 Process Noise Assessment
6.3.3 Process Noise to Measurement Noise Selection
6.4 Summary and Conclusions
7 Collaboration Versus Single Vehicle Estimation
7.1 Collaborative Navigation: Concept
7.2 Experiment Scenario and Setup
7.3 Collaboration Results
7.3.1 Accuracy and Precision Analysis
7.3.2 Integrity Analysis
7.4 Summary and Discussion
8 Conclusions
8.1 Summary
8.2 Outlook
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Zusammenfassung in Englisch und Deutsch
Seite i-iii
In:
Wissenschaftliche Arbeiten der Fachrichtung Geodäsie und Geoinformatik der Leibniz Universität Hannover, Nr. 363
Sprache:
Englisch
Schlagwort(e):
Hochschulschrift
Mehr zum Autor:
Fernandez, Nicolas Garcia 1988-
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