自慣性導航系統在1980年初被引入民用領域，相關的應用發展便與日俱增，其中移動式製圖系統即是近年來最顯著的整合應用之一。具備直接定位系統之車載移動式製圖系統擁有快速資料採集，以及無需地面控制點即可對目標物進行直接地理定位的特性，是空間資訊獲取的利器。本系統採用Meinberg GPS170PCI時鐘卡，實現不同感測器與不同資料採集頻率下的資料同步整合，並利用C-MIGITS III INS/GPS系統記錄平台移動之軌跡及姿態。為使系統具備直接地理定位能力，以地面測量方式建置一足夠精度之控制場，以其內之率定場進行系統率定，檢定場進行系統直接地理定位測試。研究採兩階段率定法，並規劃適當率定策略，而後對其率定參數成果進行直接地理定位能力驗證。經率定及驗證實驗，在多時刻多影像前方交會下本移動式製圖系統具有平面15cm (RMS)及三維 28cm (RMS)的直接地理定位能力，且系統之穩定性高，已能實地運用於災後佈署等應用。預期未來在移動式製圖系統普及性漸高及自主研發技術更為成熟的趨勢下，可望在相關民生用途及軍事技術上有顯著的貢獻。

Since INS is applied in civil applications, its related developments increase as time goes by. The mobile mapping system is one of the most important civil applicaiotns of INS/GPS integrated systems because of its rapidly direct geo-referencing capability which is useful in Geospatial Information acquisition for Taiwan, a small island with high population. In this study, a low cost INS/GPS integrated POS, was developed and applied to provide the positional and orientation information seamlessly. In addition, the Meinberg GPS170PCI timing board was applied to synchronize measurements provided by those sensors. For system calibration, a high-accuracy ground control field was established by means of the ground survey. The measurements collected by the proposed system from the control field were added to the bundle adjustment procedure to solve the lever-arm and boresight angles between those image sensors. Based on the parameters obtained after calibration, the proposed system could perform direct geo-referencing tasks. This study describes the architecture of the proposed system and the establishment of the control field. Then a two-step approach with some strategies are proposed to conduct system calibration. Finally, the system test, error analysis, and the results of system calibration are presented. The results of the experiment depict that the accuracy of direct geo-referencing capability in term of the positioning accuracy of the proposed is less than 15cm(HPE) and 28cm (3D). The analysis proves the stability of proposed system is high, and the applications in the disaster assessment or the highway inventory investigation are also feasible. While the maturity of related technology becomes higher, the system can provide more contribution in the future.

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