Position and Attitude Determination for UAV-Based GPS, IMU and AT without GCPs

Real-time Aerial Monitoring System performs the rapid mapping in an emergency situation so that the geoinformation could be constructed in near real time. In this system, the position/attitude information from GPS/IMU is used to perform the aerial triangulation (AT) without GCPs. The problem here is that the exterior orientation from AT highly depend on the performance of IMU. In this case, we could update the positions and attitudes of GPS/INS integration with the solution from AT in regular intervals. We simulate the GPS/IMU/Image data for an UAV-based aerial monitoring system and compare the result of GPS/INS/AT with and without EO updates from AT. Comparative analysis showed that the result from the GPS/INS/AT with EO update is more accurate than without the update. When vehicle turns, however, the position error significantly increases in the rotational direction which needs more analysis in the future.