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Related Concept Videos

Introduction to Global Positioning System01:30

Introduction to Global Positioning System

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The Global Positioning System (GPS) revolutionized positioning on Earth, providing precise location data through satellite ranging. The GPS system was developed in 1978 by the U.S. Department of Defense  for military use, and it became available for civilian applications in 1983, transforming fields including navigation, fleet management, and time synchronization for telecommunications systems.GPS consists of satellites in medium Earth orbit, about 20,200 kilometers above the surface,...
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Field Application of Global Positioning System01:28

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The Global Positioning System (GPS) has become an indispensable tool in fieldwork, offering unparalleled precision and efficiency for surveying, navigation, and infrastructure development. By harnessing signals from a constellation of satellites, GPS receivers determine the location of objects with remarkable speed and accuracy, often completing calculations within a second.Advantages of Modern GPS TechnologyContemporary GPS receivers are designed to meet the practical demands of field...
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Global Positioning System (GPS) technology has revolutionized navigation and positioning, but its accuracy is often compromised by various errors. These errors, stemming from environmental, satellite, and receiver-related factors, require careful mitigation to ensure reliable performance across applications.Atmospheric ErrorsGPS signals travel through the Earth’s ionosphere and troposphere, introducing delays which affect accuracy. The ionosphere is strongly influenced by charged particles,...
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Types of Global Positioning System Surveys01:30

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GPS surveying methods vary in application, accuracy, and data collection techniques, catering to diverse surveying and mapping needs. Static GPS, kinematic GPS, and real-time kinematic (RTK) surveying are widely used. Each technique offers distinct advantages.Static GPS involves placing one receiver at a known reference point and another at the target point. It collects exact positional data by observing multiple satellite ranges over an extended period, achieving centimeter-level accuracy for...
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Design Example: Identifying the Locations of Monuments in the Field Using Global Positioning System Device01:30

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Surveyors use Global Positioning System (GPS) technology to measure the precise location and elevation of points on Earth. In a recent survey, GPS receivers were used to determine the coordinates and elevations of two park monuments. The process involved careful mission planning, data collection, and correction to ensure accuracy. The survey began with mission planning to identify optimal satellite visibility and minimize Position Dilution of Precision (PDOP). A geodetic control point...
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Circular Orbits and Critical Velocity for Satellites01:16

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The Moon orbits around the Earth. In turn, the Earth (and other planets) orbit the Sun. The space directly above our atmosphere is filled with artificial satellites in orbit. One can examine the circular orbit, the simplest kind of orbit, to understand the relationship between the speed and the period of planets and satellites with respect to their positions and the bodies that they orbit.
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GPS-SLAM: An Augmentation of the ORB-SLAM Algorithm.

Dániel Kiss-Illés1, Cristina Barrado2, Esther Salamí2

  • 1Karlsruhe Institute of Technology (KIT-Karlsruher Institut für Technologie), 76131 Karlsruhe, Germany.

Sensors (Basel, Switzerland)
|November 17, 2019
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Summary

Global Positioning System-Simultaneous Localization and Mapping (GPS-SLAM) enhances ORB-SLAM for low frame rate data. This augmented SLAM system uses GPS and inertial data for improved robustness in challenging datasets.

Keywords:
GPS dataSLAMUAVinertialscarce dataset

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Area of Science:

  • Robotics
  • Computer Vision
  • Navigation Systems

Background:

  • Simultaneous Localization and Mapping (SLAM) systems typically require high frame rates for reliable operation.
  • Existing algorithms like ORB-SLAM struggle with datasets exhibiting low frame rates, leading to tracking failures.
  • Unmanned Aerial Vehicle (UAV) flights often capture data at low frame rates, limiting SLAM applicability.

Purpose of the Study:

  • To develop an augmented SLAM algorithm capable of handling low frame rate datasets.
  • To improve the robustness of visual SLAM systems using external sensor data.
  • To enable successful SLAM application in scenarios with limited visual data continuity.

Main Methods:

  • Augmented Oriented FAST and Rotated BRIEF (ORB)-SLAM with Global Positioning System (GPS) and inertial data.
  • Determining the next frame's pose using fused GPS and inertial measurement unit (IMU) data.
  • Implementing a GPS-SLAM system for enhanced localization and mapping.

Main Results:

  • The GPS-SLAM system demonstrates increased robustness compared to standard ORB-SLAM on low frame rate datasets.
  • The integration of GPS and inertial data effectively compensates for the lack of visual continuity.
  • The algorithm successfully maintains tracking and mapping in challenging, low-frame-rate scenarios.

Conclusions:

  • GPS-SLAM provides a viable solution for applying SLAM algorithms to low frame rate datasets, particularly in outdoor UAV applications.
  • The fusion of GPS and inertial data significantly enhances SLAM performance where visual data is sparse.
  • This approach broadens the applicability of SLAM in real-world scenarios with inherent data limitations.