High Precision Navigation: Integration of Navigational and Geodetic Methods

636 Pages·1989·16.444 MB·English

by  Philipp Hartl (auth.), Professor Dr.-Ing. Klaus Linkwitz, Dipl.-Ing. Ulrich Hangleiter (eds.)

Proceedings of an International Workshop
Stuttgart and Altensteig, May 1988,
organized by the Sonderforschungsbereich 228
(Special Collaborative Programme) of the
Deutsche Forschungsgemeinschaft
K. Linkwitz U. Hangleiter (Eds.)
High Precision
Navigation
Integration of Navigational and
Geodetic Methods
With 289 Figures
Springer-Verlag Berlin Heidelberg New York
London Paris Tokyo Hong Kong
Professor Dr.-Ing. KLAUS LINKWITZ
Dipl.-Ing. ULRICH HANGLEITER
Institut fur Anwendungen der
Geodasie im Bauwesen
Universitat Stuttgart
KeplerstraBe 10
7000 Stuttgart 1, FRG
ISBN-13:978-3-642-74587-4 e-ISBN-13:978-3-642-74585-0
DOl: 1O.l007/978-3-642-74585-0
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}»reface
These proceedings are a complete collection of the contributions presented at
the International Workshop High Precision Navigation in May 1988 in Stuttgart
and at Altensteig. The workshop was organized by the Sonderforschungsbereich
228 (SFB 228) Hochgenaue Navigation - Integration navigatorischer und geoda
tischer Methoden (Special Collaborative Programme "High Precision Navigation
- Integration of Navigational and Geodetic Methods"), and more than 100
scientists participated.
The Sonderforschungsbereich is an institution of the Deutsche Forschungsge
meinschaft (DFG) and the Universtity of Stuttgart. Its principal purpose is
the integration of geodetic and navigational methods, based on the specific
reasoning and methods of the two disciplines involved, navigation and geode
sy. Through this integration real-time solutions for automatic positioning
and high precision navigation should be obtained. Among the main topics of
the SFB are the theory and application of nonlinear dynamic processes for
analyzing, controlling, and steering of movements. By combination with geode
tic methods techniques of classical navigation with a position accuracy of
some decameter are intended to be improved to an accuracy of a few centi
meters. In the field of geodesy, problems of geodynamic and local measure
ments are handled in global systems with the aid of satellite and inertial
techniques; here the control of inertial systems with GPS techniques is of
special interest. The field of image processing is especially concerned with
sensors and imaging systems for optical systems as well as systems of the
infrared and microwave area. The development of methods for the analysis of
temporary or spatial image sequences is of increasing interest. In the field
of engineering geodesy, navigational methods are applied to analyze processes
on construction sites and to control the system behavior. Of common interest
for all projects from a technical point of view are: the development of sen
sors, signal analysis, image analysis, model-supported measurements, and
system dynamics.
At the workshop one part of the papers was presented in plenary sessions
(overview papers), the other part was given in parallel sessions (special
papers). The workshop was held under seclusive conditions leading to a highly
concentrated working atmosphere. The different professions of the partici
pants led to an interdisciplinary exchange of expert knowledge inspiring
VI
all involved. For the different fields many common tasks with respect to
methods and algorithms became obvious as well as various unsolved technical
problems concerning sensors, especially sensor integration. Special attention
was given the increasing importance of image processing, especially in the
field of car navigation. Here, the great interest of the industry became ob
vious to be satisfied not by final technical solutions but by dispositions of
methodical solutions.
The proceedings presented here consist of two main parts: the first part con
tains papers with the character of overviews, the second part papers on
special subjects. Such topics give the headlines for the other chapters of
the proceedings: Satellite Techniques, Topographic Applications, Image Pro
cessing, Close Range Mensuration, and Inertial Techniques.
Klaus linkwitz Ulrich Hangleiter
Contents
A. OVERVIEW ARTICLES
High Precision Navigation with Satellites 3
Philipp Hartl
Navigational Methods of Measurement in Geodetic Surveying 15
Klaus Linkwitz, Wolfgang Mohlenbrink
Geodetic Positioning by Inertial and Satellite Systems: 34
An Overview
Erik W. Grafarend
GPS Geodesy: A Status Report 74
G. Blewitt, T.P. Yunck, S.M. Lichten, W.I. Bertiger,
S.C. Wu
Vehicle Guidance by Computer Vision 86
Ernst-Dieter Dickmanns
Vision and Navigation for the Carnegie Mellon Navlab 97
Charles Thorpe, Martial Hebert, Takeo Kanade,
Steven Shafer
Error Characteristics of Inertial Systems from the View- 123
point of Oscillation Theory
Elfriede Knickmeyer, Klaus-Peter Schwarz
Integration of INS and GPS Measurements 137
Alfred Kleusberg
B. SATELLITE TECHNIQUES
Adaptive Antennas for GPS 149
Samuel Bloch
Empirical Accuracy of Positions Computed from Airborne 163
GPS Data
Peter Friess
Integrated Navigation System for Approach Guidance 176
for Regional Air-Traffic Using GPS
Thomas Jacob
VIII
GPS Receiver Development in the Space Research Centre 188
Warsaw
Zdzislaw J. Krysinski, Janusz B. Zielinski
The Monocular Electro-Optical Stereo Scanner (MEOSS) 195
Satellite Experiment
Franz Lanzl
Alternative Modeling of GPS Carrier Phases for Geodetic 205
Network Analysis
Wolfgang Lindlohr
Frontend Design for High Accurate Positioning with GPS 218
Guenther Schneck
Combining GPS and Classical Geodetic Surveys for 225
Crustal Deformation in the Imperial Valley, California
Richard A. Snay, Alice R. Drew
C. TOPOGRAPHIC APPLICATIONS
Digital Terrain Models of Forest Areas by Airborne 239
Laser Profiling
Friedrich Ackermann
Advances in Radar Altimetry Techniques for Topographic 251
Mapping
Hugh Griffiths
A KU-Band Solid State Radar Altimeter for Topographic 261
Application
Yong-Hoon Kim
Quality Analysis of Platform Orientation Parameters for 275
Airborne Laser Profiling Systems
Joachim Lindenberger
Radar Altimetry for Land Applications 286
Harald SchUssler
IX
D. IMAGE PROCESSING
Motion Estimation in Image Sequences 297
Norbert Diehl, Hans Burkhardt
Precision of Geometric Features Derived from Image 313
Sequences
Wolfgang Forstner
Towards Autonomous Navigation Utilizing Image Sequence 330
Analysis
Ralf Kories, Nils Rehfeld, Georg Zimmermann
Depth from Stereo Image Sequences 342
Larry Matthies
Systolic Arrays for Block Matching Algorithms 354
Peter Pirsch, Thomas Komarek
Modulation Transfer Function Obtained from Image 366
Structures
Fang Lei, Hans Tiziani
Symbolic Image Descriptions for Relational Matching 378
George Vosselman
E. CLOSE RANGE MENSURATION
Motorized Electronic Theodolites - High Precision 395
Measurement Robots for Surveying
Gerhard Bayer
High Speed Infrared Tracking 409
Yves Castanet
High Precision Surveying of Moving Objects by Electronic 419
Cameras
Peter Krzystek
Pulsed Laser Radar for Close Range Operation in Space 432
Sigmund Manhart, Peter Autenzeller, Walter Braumandl
x
Real-Time Surveying in Close Range Area with Inertial 443
Navigation Systems and Optical Target Tracking Techniques
Wolfgang Mohlenbrink
Multiple Target Tracking for Automatic Inland Navigation 457
Thomas Plocher, Klaus Mezger, Reinhard Neul,
Ernst-Dieter Gilles
3D-Mapping by a Semiconductor Laser Scanner, Description 469
of an Experimental Setup
Aloysius Wehr
F. INERTIAL TECHNIQUES
A Model for Highly Precise Inertial-Survey Adjustments 493
(Summary)
Wolfgang Hausch
Advances in Strapdown Systems for Geodetic Applications 496
James R. Huddle
Some Experiences with the LTN-72 Aircraft Platform in 531
Terrestrial Applications
Dieter Keller
Separation of Gravitational and Inertial Accelerations 542
with a Combined Inertial Navigation and Gravity-Gradiome-
ter System
Thomas Kling
The Physics of NMR Gyroscopes 556
Michael Mehring, Stephan Appelt, Bodo Menke,
Peter Scheufler
Data Processing for GPSjINS Integration 571
Michael Napier
Integration of INS, GPS and Doppler for Helicopter 584
Navigation
Bruno M. Scherzinger, D. Blake Reid