Sluiten Help Print Cursus: 201700167 201700167 Positioning and Imaging Technology Cursus informatie Cursus 201700167 Studiepunten (ECTS) 5 Cursustype Cursus Voertaal Engels Contactpersoon prof.dr.ir. M.G. Vosselman E-mail george.vosselman@utwente.nl Docenten Docent dr. V.V. Lehtola Examinator prof.dr.ir. M.G. Vosselman Contactpersoon van de cursus prof.dr.ir. M.G. Vosselman Docent prof.dr.ir. M.G. Vosselman Docent Dr. habil. Y. Yang Collegejaar 2021 Aanvangsblok 1A Aanmeldingsprocedure Zelf aanmelden via OSIRIS Student Inschrijven via OSIRIS Ja Cursusdoelen After successful completion of this course, the students will be able to : Understand the foundations of the satellite positioning and inertial navigation Design a navigation system based on the available GNSS and IMU technologies, cost and the targeted accuracy in a given project Evaluate the error components of navigation system and compute overall accuracy Apply the GNSS/IMU integration and estimate the pose of the UAV Design a flight planning to acquire imagery from which geometric information can be retrieved with the accuracy required by a given project. Understand and evaluate the process of image pose estimation. Apply and evaluate image matching techniques to reconstruct the 3D geometry of imaged object surfaces. Inhoud Topics of the module are: Reference frames – geoid, ellipsoidal, WGS’84 Global Navigation Satellite Systems (GNSS) – principles of pseudo range and carrier phase measurements, clock and orbit errors, troposphere and ionosphere corrections, differential GNSS, RTK, PPK, PPP, multipath Direct geo-referencing – fundamentals of inertial measurement units (IMU), IMU error sources, complementary characteristics of GNSS and IMU, GNSS/IMU integration Imaging sensors – electromagnetic spectrum, characteristics of RGB-, multi- and hyperspectral cameras, and thermal cameras Imaging process – coordinate systems, properties of perspective projection, transformations, orientation estimation Bundle adjustment – tie points, ground control points, use of GNSS/IMU, accuracy analysis Height measurements – parallax formula, height accuracy Image matching – epipolar geometry, normal images, cross correlation, least squares matching, hierarchical matching Voorkennis Mandatory: Linear Algebra, Calculus (as taught in first year technical bachelor studies) Recommended: Least Squares Estimation, Error Propagation, programming Participating study Master Systems and Control Verplicht materiaal Course material Lecture notes, reader handed out during course Aanbevolen materiaal Book Fundamentals of Inertial Navigation, Satellite-based Positioning and their Integration, A. Noureldin, T. Karamat, J. Georgy, 2011, Springer-Verlag Berlin Heidelberg, 978-3-642-30465-1 Book Inertial Navigation Systems with Geodetic Applications, Christopher Jekeli, ISBN: 978-3110159035 Werkvormen Assessment Aanwezigheidsplicht Ja Hoorcollege Opdracht Practicum Aanwezigheidsplicht Ja Toetsen Written Exam, Report Opmerking Written exam (90%) and report (10%) Sluiten Help Print