Analysis of integrated sensor orientation in aerial mapping

...........................................................................................iii ACKNOWLEDGEMENTS....................................................................................................v LIST OF FIGURES ......................................................................................................... xii LIST OF TABLES .........................................................................................................xiv LIST OF SYMBOLS, ABBREVIATIONS, NOMEMCLATURE ................................... xvii CHAPTER ONE: INTRODUCTION ....................................................................................1 1.1. Background and Objective.......................................................................................1 1.2. Thesis Outline ..........................................................................................................3 CHAPTER TWO: IMAGE GEOREFERENCING FOR AIRBORNE APPLICATIONS.....5 2.1. Background..............................................................................................................5 2.2. Direct Georeferencing, Indirect Georeferencing and Integrated Sensor Orientation .................................................................................................................................6 2.2.1. Direct vs. Indirect Georeferencing...............................................................7 2.2.2. Integrated Sensor Orientation ......................................................................9 2.3. Error Sources in Image Georeferencing ................................................................11 2.3.1. Sensor Errors..............................................................................................18 Imaging Sensor ....................................................................................18 Global Positioning System (GPS)........................................................21 Inertial Navigation System (IMU) .......................................................23 2.3.2. Integration Errors.......................................................................................26 Sensor Placement.................................................................................26 Synchronization ...................................................................................27 Filtering Technique..............................................................................28 2.3.3. Calibration Errors ......................................................................................30

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