Path planning for mobile mapping system considering the geometry of the GPS satellite

Kiichiro Ishikawa, Yoshiharu Amano, Takumi Hashizume

Research output: Contribution to journalArticle

2 Citations (Scopus)

Abstract

In this paper, we propose a path planning method for a Mobile Mapping System (MMS) considering GPS geometry for the purpose of increasing GPS availability. We calculate Position Dilution of Precision (PDOP) using aerial laser survey data that provides geography and height of buildings near roads. PDOP is used for weighting road network data. By using the Chinese postman problem, we then calculate the optimum path that passes through all routes at least once. We describe currentMMS operation first and clear up problems with the current method. We then describe the proposed method in detail. Finally, we conduct evaluation tests and describe results in detail. The evaluation test verifies that the proposed method increases the GPS FIX ratio by 5% under the same GPS geometry and proves the effectiveness of the proposed method.

Original languageEnglish
Pages (from-to)545-552
Number of pages8
JournalJournal of Robotics and Mechatronics
Volume25
Issue number3
DOIs
Publication statusPublished - 2013 Jun

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Keywords

  • Chinese postman problem
  • GPS
  • Mobile mapping system
  • Path planning

ASJC Scopus subject areas

  • Computer Science(all)
  • Electrical and Electronic Engineering

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