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JRM Vol.25 No.3 pp. 545-552
doi: 10.20965/jrm.2013.p0545
(2013)

Paper:

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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Last updated on Sep. 19, 2020