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강범연,한중희,권재현 한국측량학회 2014 한국측량학회지 Vol.32 No.6
Since the accuracy of Global Positioning System (GPS)-based vehicle positioning system is significantlydegraded or does not work appropriately in the urban canyon, the integration techniques of GPS with InertialNavigation System (INS) have intensively been developed to improve the continuity and reliability ofpositioning. However, its accuracy is degraded as INS errors are not properly corrected due to the GPS signalblockage. Recently, the image-based positioning techniques have been started to apply for the vehicle positioningfor the advanced in processing techniques as well as the increased the number of cars installing the camera. Inthis study, Single Photo Resection (SPR), which calculates the camera exterior orientation parameters using theGround Control Points (GCPs,) has been integrated with the INS/GPS for continuous and stable positioning. The INS/GPS/SPR integration was implemented in both of a loosely and a tightly coupled modes, based on theExtended Kalman Filter (EKF). In order to analyze the performance of INS/SPR integration during the GPSoutage, the simulation tests were conducted with a consideration of factors affecting SPR performance. Theresults demonstrate that the accuracy of INS/SPR integration is depended on magnitudes of the GCP errorsand SPR processing intervals. Additionally, the simulation results suggest some required conditions to achieveaccurate and continuous positioning, used the INS/SPR integration.