TY - JOUR

T1 - Georeferencing of an Unmanned Aerial System by Means of an Iterated Extended Kalman Filter Using a 3D City Model

AU - Bureick, Johannes

AU - Vogel, Sören

AU - Neumann, Ingo

AU - Unger, Jakob

AU - Alkhatib, Hamza

N1 - Funding Information: This work was funded by the Deutsche Forschungsgemeinschaft (DFG, German Research Foundation)—NE 1453/5-1, HE 1822/37-1, and as part of the Research Training Group i.c.sens [RTG 2159]. The computations were performed by the compute cluster, which is funded by the Leibniz University Hannover, the Lower Saxony Ministry of Science and Culture (MWK), and DFG.

PY - 2019/12

Y1 - 2019/12

N2 - In engineering geodesy, the technical progress leads to various kinds of multi-sensor systems (MSS) capturing the environment. Multi-sensor systems, especially those mounted on unmanned aerial vehicles, subsequently called unmanned aerial system (UAS), have emerged in the past decade. Georeferencing for MSS and UAS is an indispensable task to obtain further products of the data captured. Georeferencing comprises at least the determination of three translations and three rotations. The availability and accuracy of Global Navigation Satellite System (GNSS) receivers, inertial measurement units, or other sensors for georeferencing is not or not constantly given in urban scenarios. Therefore, we utilize UAS-based laser scanner measurements on building facades. The building latter are modeled as planes in a three-dimensional city model. We determine the trajectory of the UAS by combining the laser scanner measurements with the plane parameters. The resulting implicit measurement equations and nonlinear equality constraints are covered within an iterated extended Kalman filter (IEKF). We developed a software simulation for testing the IEKF using different scenarios to evaluate the functionality, performance, strengths, and remaining challenges of the IEKF implemented.

AB - In engineering geodesy, the technical progress leads to various kinds of multi-sensor systems (MSS) capturing the environment. Multi-sensor systems, especially those mounted on unmanned aerial vehicles, subsequently called unmanned aerial system (UAS), have emerged in the past decade. Georeferencing for MSS and UAS is an indispensable task to obtain further products of the data captured. Georeferencing comprises at least the determination of three translations and three rotations. The availability and accuracy of Global Navigation Satellite System (GNSS) receivers, inertial measurement units, or other sensors for georeferencing is not or not constantly given in urban scenarios. Therefore, we utilize UAS-based laser scanner measurements on building facades. The building latter are modeled as planes in a three-dimensional city model. We determine the trajectory of the UAS by combining the laser scanner measurements with the plane parameters. The resulting implicit measurement equations and nonlinear equality constraints are covered within an iterated extended Kalman filter (IEKF). We developed a software simulation for testing the IEKF using different scenarios to evaluate the functionality, performance, strengths, and remaining challenges of the IEKF implemented.

KW - 3D city model

KW - Equality constraint

KW - Implicit measurement equation

KW - Iterated extended Kalman filter

KW - Laser scanner measurements

KW - Unmanned aerial system

UR - http://www.scopus.com/inward/record.url?scp=85074706572&partnerID=8YFLogxK

U2 - 10.1007/s41064-019-00084-x

DO - 10.1007/s41064-019-00084-x

M3 - Article

AN - SCOPUS:85074706572

VL - 87

SP - 229

EP - 247

JO - PFG - Journal of Photogrammetry, Remote Sensing and Geoinformation Science

JF - PFG - Journal of Photogrammetry, Remote Sensing and Geoinformation Science

SN - 2512-2789

IS - 5-6

ER -