Path Planning for Mobile Mapping System Considering the     Geometry of the GPS Satellite

Kiichiro Ishikawa; Yoshiharu Amano; Takumi Hashizume

doi:10.20965/jrm.2013.p0545

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JRM Vol.25 No.3 pp. 545-552

doi: 10.20965/jrm.2013.p0545

(2013)

Paper:

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Path Planning for Mobile Mapping System Considering the Geometry of the GPS Satellite

Kiichiro Ishikawa, Yoshiharu Amano, and Takumi Hashizume

Waseda University, 17 Kikui-cho, Shinjyuku-ku, Tokyo 162-0044, Japan

Received:

October 19, 2012

Accepted:

April 22, 2013

Published:

June 20, 2013

Keywords:

mobile mapping system, GPS, path planning, Chinese postman problem

Abstract

In this paper, we propose a path planning method for a Mobile Mapping System (MMS) considering GPS geometry for the purpose of increasing GPS availability. We calculate Position Dilution of Precision (PDOP) using aerial laser survey data that provides geography and height of buildings near roads. PDOP is used for weighting road network data. By using the Chinese postman problem, we then calculate the optimum path that passes through all routes at least once. We describe currentMMS operation first and clear up problems with the current method. We then describe the proposed method in detail. Finally, we conduct evaluation tests and describe results in detail. The evaluation test verifies that the proposed method increases the GPS FIX ratio by 5% under the same GPS geometry and proves the effectiveness of the proposed method.

Cite this article as:

K. Ishikawa, Y. Amano, and T. Hashizume, “Path Planning for Mobile Mapping System Considering the Geometry of the GPS Satellite,” J. Robot. Mechatron., Vol.25, No.3, pp. 545-552, 2013.

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References

[1] Y. Sakuma, K. Ishikawa, T. Yamazaki, Y. Amano, and T. Hashizume, “Evaluation of A Positioning Correction Method in GPS Blockage Condition,” Proc. of SICE Annual Conf. 2011, pp. 1670-1674, 2011.
[2] Y.-C. Suh and R. Shibasaki, “Evaluation of Satellite-Based Navigation Services in Complex Urban Environments Using a Three-Dimensional GIS,” IEICE Trans. Commun., Vol.E90B, No.7, pp. 1816-1825, 2007.
[3] J. Li, G. Taylor, D. Kidner, and M. Ware, “Prediction of GPS Multipath Effect Using LiDAR Digital Surface Models and Building Footprints,” Web and Wireless Geographical Information Systems, Lecture Notes in Computer Science, Vol.4295, pp. 42-53, 2006.
[4] J. Meguro, T. Murata, J. Takiguchi, Y. Amano, and T. Hashizume, “GPS Multipath Mitigation for Urban Area Using Omnidirectional Infrared Camera,” IEEE Trans. on Intelligent Transportation Systems, Vol.10, No.1, 2009.
[5] P. E. Hart, N. J. Nilsson, and B. Raphael, “A Formal Basis for the Heuristic Determination of Minimum Cost Paths,” IEEE Trans. on Systems Science and Cybernetics SSC4, No.2, pp. 100-107, 1968.
[6] E. Rimon and D. E. Koditschek, “Exact robot navigation using artificial potential functions,” IEEE Trans. on Robotics & Automation, Vol.8, No.5, pp. 501-518, 1992.
[7] Y. Wang and G. S. Chirikjian, “A New Potential Field Method for Robot Path Planning,” Proc. IEEE Int. Conf. Robotics and Automation, pp. 977-982, 2000.
[8] DRM/Kiwi-W Consortium/JSA, “JIS-D0810:2004 Road vehicles – Map data physical storage format for car navigation systems,” Japanese Industrial Standard, Japanese Standards Association, 2004.
[9] H. C. Kappauf and G. J. Koehler, “The Mixed Postman Problem,” Discrete Applied Mathematics, Vol.1, pp. 89-103, 1979.
[10] P. Misra and P. Enge, “GLOBAL POSITIONING SYSTEM Signals, Measurements, and Performance Second Edition,” Ganga-Jamuna Press, p. 127, 2006.
[11] M. Kwan, “Graphic Programming Using Odd or Even Points,” Chinese Math., Vol.1, pp. 273-277, 1962.
[12] E.W. Dijkstra, “A note on two problems in connexion with graphs,” Numerische Mathematik, Vol.1, No.1, pp. 269-271,1959.

This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

[1] [1] Y. Sakuma, K. Ishikawa, T. Yamazaki, Y. Amano, and T. Hashizume, “Evaluation of A Positioning Correction Method in GPS Blockage Condition,” Proc. of SICE Annual Conf. 2011, pp. 1670-1674, 2011.

[2] [2] Y.-C. Suh and R. Shibasaki, “Evaluation of Satellite-Based Navigation Services in Complex Urban Environments Using a Three-Dimensional GIS,” IEICE Trans. Commun., Vol.E90B, No.7, pp. 1816-1825, 2007.

[3] [3] J. Li, G. Taylor, D. Kidner, and M. Ware, “Prediction of GPS Multipath Effect Using LiDAR Digital Surface Models and Building Footprints,” Web and Wireless Geographical Information Systems, Lecture Notes in Computer Science, Vol.4295, pp. 42-53, 2006.

[4] [4] J. Meguro, T. Murata, J. Takiguchi, Y. Amano, and T. Hashizume, “GPS Multipath Mitigation for Urban Area Using Omnidirectional Infrared Camera,” IEEE Trans. on Intelligent Transportation Systems, Vol.10, No.1, 2009.

[5] [5] P. E. Hart, N. J. Nilsson, and B. Raphael, “A Formal Basis for the Heuristic Determination of Minimum Cost Paths,” IEEE Trans. on Systems Science and Cybernetics SSC4, No.2, pp. 100-107, 1968.

[6] [6] E. Rimon and D. E. Koditschek, “Exact robot navigation using artificial potential functions,” IEEE Trans. on Robotics & Automation, Vol.8, No.5, pp. 501-518, 1992.

[7] [7] Y. Wang and G. S. Chirikjian, “A New Potential Field Method for Robot Path Planning,” Proc. IEEE Int. Conf. Robotics and Automation, pp. 977-982, 2000.

[8] [8] DRM/Kiwi-W Consortium/JSA, “JIS-D0810:2004 Road vehicles – Map data physical storage format for car navigation systems,” Japanese Industrial Standard, Japanese Standards Association, 2004.

[9] [9] H. C. Kappauf and G. J. Koehler, “The Mixed Postman Problem,” Discrete Applied Mathematics, Vol.1, pp. 89-103, 1979.

[10] [10] P. Misra and P. Enge, “GLOBAL POSITIONING SYSTEM Signals, Measurements, and Performance Second Edition,” Ganga-Jamuna Press, p. 127, 2006.

[11] [11] M. Kwan, “Graphic Programming Using Odd or Even Points,” Chinese Math., Vol.1, pp. 273-277, 1962.

[12] [12] E.W. Dijkstra, “A note on two problems in connexion with graphs,” Numerische Mathematik, Vol.1, No.1, pp. 269-271,1959.