The Integration of Global Navigation Satellite System Kinematic Positioning and Inertial Measurement Unit for Highly Dynamic Surveying and Mapping Applications

Global Navigation Satellite System with Realtime Kinematic Positioning (GNSS RTK) is now widely applied for land-based surveying to provide positioning solution at centimeter level. However, for highly dynamic surveying and mapping applications such as UAV photogrammetry, hydrographical surveying and mobile mapping that require a high frequency and continuous navigation solution, GNSS RTK only is insufficient. To overcome this issue, we propose a system that integrates GNSS RTK and Inertial measurement Unit (IMU) to provide navigation solution including position, velocity, and attitude. For this scheme, Extended Kalman Filter is used for data fusion. The conducted field test indicated that the proposed system and solution is enabled to provide navigation solution of frequency up to 50Hz with positional accuracy of centimeter in open sky view and decimeter in GNSS hostile environment. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.