Challenging Environments for Precise Mapping Using GNSS/INS-RTK Systems: Reasons and Analysis
Challenging Environments for Precise Mapping Using GNSS/INS-RTK Systems: Reasons and Analysis
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DOI：
10.3390/rs14164058
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发表时间：
2022-08
期刊：
影响因子：
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通讯作者：
Mohammad Aldibaja;N. Suganuma;Keisuke Yoneda;R. Yanase
中科院分区：
文献类型：
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作者：
Mohammad Aldibaja;N. Suganuma;Keisuke Yoneda;R. Yanase
本文论证了GNSS/INS-RTK（GIR）系统在测绘具有挑战性的环境中由于卫星信号的遮挡和偏转而导致的弱点。因此，它强调指出，制图公司使用昂贵的全球红外系统提供商业地图的战略并不总是有效的。这限制了自动驾驶汽车在许多道路结构和现代城市中部署的可扩展性。在此基础上，对东京市不同的关键环境进行了分析和研究，以证明道路结构复杂性对GIR地图质量的影响，并突出了相关原因。因此，本文旨在证明GIR系统的数据不能总是被认为是地面实况，并且SLAM技术集成到地图模块中对于实现自动驾驶的第四和第五级别是非常必要的。
This paper demonstrates the weakness of GNSS/INS-RTK (GIR) systems in mapping challenging environments because of obstruction and deflection of satellite signals. Thus, it emphasizes that the strategy of mapping companies to commercially provide maps using expensive GIR systems does not always work robustly. This limits the scalability of autonomous vehicle deployment in many road structures and modern cities. Accordingly, different critical environments in Tokyo have been analyzed and investigated to demonstrate the effects of the road structure complexity on the GIR map quality with highlighting the relevant reasons. Therefore, this paper is intended to be a reference to prove that the data of GIR systems cannot always be considered as ground truth and the integration of SLAM technologies into the mapping modules is very necessary to enable the levels four and five of autonomous driving.