Research And Application Of Indoor And Outdoor Positioning Method Based On Backpack Mobile Measurement System

Mobile surveying is an important development direction in the field of Surveying and mapping nowadays.In recent years,the development of mobile surveying technology has greatly promoted the development of geospatial information acquisition technology,and formed many new three-dimensional spatial data acquisition technology.Rapid acquisition of spatial three-dimensional information has become a hot spot in the field of Surveying and mapping.Mobile measurement system has become a new technology for data acquisition based on geospatial framework.For mobile measurement,the position and attitude data of carrier is the basis of other measurement data.The accuracy of position and attitude of measurement system directly affects the accuracy and availability of spatial three-dimensional data acquisition.This problem also relates to the consistency of multi-sensor description,attitude,position,coordinated work and many other issues.This paper discusses the positioning method of mobile measurement system and the development of mobile measurement system,and discusses and studies the indoor and outdoor positioning method of mobile measurement system.On this basis,the theoretical method is validated by the measured data,and the guiding opinions on the data production process and the later data processing are obtained.The main contents of this paper are as follows:(1)The development status of mobile measurement system at home and abroad and several common positioning methods are studied.(2)The outdoor orientation and orientation methods of mobile measurement system are studied.Three kinds of orientation methods,GNSS,INS and GNSS/INS,are compared.The corresponding results are obtained through experiments,and the experimental results are analyzed.(3)The principle and method of indoor SLAM positioning are studied.On this basis,the method of removing the motion distortion of point cloud assisted by IMU is studied.The experimental results are obtained by calculating the measured data.Finally,the feasibility of INS/SLAM combined positioning is verified.(4)The practical application of the knapsack mobile measurement system is carried out.The accuracy,reliability,efficiency and compatibility of the system are analyzed.The workflow,applicable methods and matters needing attention of the system are put forward.