The backpack LiDAR system is a highly efficient device for indoor positioning and navigation. With the use of multi-sensor interactions inside of the backpack, it can solve the problem of undetermined trajectories or locations in a GNSS-denied environment. This paper presents a multi-sensor-based backpack LiDAR system for mapping in GNSS-denied environments. With this device, we solve the problem of inaccurate positioning caused by the inability to receive GNSS signals in a small-sized lidar portable device, also reduces the cumulative error caused by the IMU module through the analysis of the vibration pattern. Through the demonstration of the results, the method is of great significance for 3D reconstruction of the indoor environment and object detection.

Slam-Based Multi-Sensor Backpack Lidar Systems in Gnss-Denied Environments

GNSS positioning accuracy can be degraded in areas where the surrounding object geometry and morphology interacts with the GNSS signals. Specifically, urban environments pose challenges to precise GNSS positioning because of signal interference or interruptions. Also, non-GNSS surveying methods, including total stations and laser scanners, involve time consuming practices in the field and costly equipment. The present study proposes the use of an Unmanned Aerial Vehicle (UAV) for autonomous rapid mapping that resolves the problem of localization for the drone itself by acquiring location information of characteristic points on the ground in a local coordinate system using simultaneous localization and mapping (SLAM) and vision algorithms. A common UAV equipped with a camera and at least a single known point, are enough to produce a local map of the scene and to estimate the relative coordinates of pre-defined ground points along with an additional arbitrary point cloud. The resulting point cloud is readily measurable for extracting and interpreting geometric information from the area of interest. Under two novel optimization procedures performing line and plane alignment of the UAV-camera-measured point geometries, a set of experiments determines that the localization of a visual point in distances reaching 15 m from the origin, delivered a level of accuracy under 50 cm. Thus, a simple UAV with an optical sensor and a visual marker, prove quite promising and cost-effective for rapid mapping and point localization in an unknown environment.

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Automated Geolocation in Urban Environments Using a Simple Camera-Equipped Unmanned Aerial Vehicle: A Rapid Mapping Surveying Alternative?

At the turn of the 20th and 21st centuries, Global Navigation Satellite Systems (GNSSs) dominated navigation in air, sea, and land. Then, medium-range and long-range terrestrial navigation systems (TNSs) ceased to be developed. However, with the development of GNSS jamming and spoofing techniques, the TNSs are being re-developed, such as the Enhanced Loran. The Polish Ministry of Defense plans to develop and implement a medium-range backup navigation system for the Polish Navy which will operate in the Baltic coastal zone. This plan is a part of the global trend. This paper presents the concept of a reserve TNS (RNS) that is based on the signal Doppler frequency (SDF) location method. In 2016, the concept of the RNS, which is based on stationary radio beacons located on coastal lighthouses, has been presented. From the military viewpoint, the use of the mobile radio beacons, which may change their location, is more justified. Therefore, the paper presents an idea of using the mobile beacons for this purpose. In this paper, effectiveness of the mobile RNS is shown based on simulation studies. http://www.transnav.eu the International Journal on Marine Navigation and Safety of Sea Transportation Volume 14

Mobile Radio Beacons in Coastal Reserved Navigation System for Ships

Software for tracking aquatic environment geographic information systems for further integration with advanced search capabilities

Precision mapping through the stereo vision and geometric transformations in unknown environments

This paper discusses a method to compute the location of the receiver in the area where the signal from the Global Navigation Satellite System (GNSS) such as GPS and GLONASS does not reach or weak. These areas are called GNSS denied environment. The method in takes the initial location obtained from GNSS system as seed to further compute the location of the receiver using interpolated and extrapolated positions using dead reckoning module (DRM). This paper further discusses the design of such a locating device which uses both data obtained from GNSS and DRM to compute the position information where GNSS signals are not available or weak.

Brice Niketan Kandulna

Papers

A method to compute location in GNSS denied area