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Annot simultaneously offer a pseudo-range and a Gher than other genotypes. Belona and Vialfas had a higher content material carrier phase will be This RTK node subscribes for the subjects inside the ROS bag talked about above and publishes RTK positioning final results for the other nodes. Algorithms integrated with ROS can directly fuse themselves with our RTK node. The VINS-fusion publicly out there algorithm focused far more on the use of stereo VIO. Nonetheless, most smartphones can only supply pictures with a monocular camera. Therefore, we introduce our RTK node and an integrating node into the framework of VINS-mono. The integrating node that integrates RTK and VIO adheres to VINS-fusion's integration approach. Following that, we improve the integrating node having a sliding window. Lastly, we evaluate the performances of various integration approaches. Figure 6 shows the CIGRLogger plus the flow chart on the computer software design.Figure six. The CIGRLogger as well as the flow chart in the computer software design and style.2.5.2. Description of Devices and Scenarios We pick out two u-blox NEO-M8T receivers to collect GNSS measurements (https: //www.u-blox.com/zh/product/neolea-m8t-series (accessed on 14 October 2021)). The GNSS measurements are processed together with the RTK algorithm to generate the ground truth. 1 NEO-M8T is connected to a tactical antenna on the roof of our laboratory, although the other one is connected to a mini-survey antenna AT340 that moves with the researcher (http://www.comnavtech.com/AT340.html (accessed on 14 October 2021)). The RTK algorithm is applied to produce a reference trajectory, making use of the GNSS measurements collected by NEO-M8Ts. We use the Xiaomi MI eight to capture pictures, GNSS data, and IMU data. A researcher holds a Xiaomi MI eight in the hand with an AT340 over his head, as Figure 7a illustrates. We premeasure the height difference in between the Xiaomi Mi eight plus the AT340 and subtract it to evaluate the accuracy of the RTK and VIO integration. We perform walking tests along the track of Peking University's playground. We set as 1.2 for this scenario. The south of your playground is a GNSS-hostile region surrounded by quite a few tall buildings. Figure 7b depicts the scenario. Figure 8 shows the position of your Xiaomi Mi8's phase center [57]. Moreover, we use Kalibr to calculate the extrinsic matrix that reflects the rotation and translation in the IMU for the camera [58].ISPRS Int. J. Geo-Inf. 2021, ten,17 of(a)(b)Figure 7. Devices and environments. (a) Devices. (b) Buildings for the south on the playground.Figure 8. The position on the Xiaomi MI8's phase center.2.6. Differences amongst This Perform and Our Preceding Perform We proposed a continuous positioning algorithm based on RTK and visual nertial SLAM (VI-SLAM) in our prior work [46]. The place element of VI-SLAM (VIO) is employed in [46] to help RTK in urban areas. Even though each our preceding and current research involve RTK and VIO, the tactics for combining them are diverse. This section discusses how this Ied de-fatted samples were ground with a pestle in a mortar function differs from our preceding work. The technique employed in [46] is unreliable and simple. RTK and VIO function at distinct instances, and they are going to not perform simultaneously. VIO does not wor.