High resolution digital elevation modeling with on-vehicle sensors

Mengyang Liang, Chi Xu, Yangmin Xie, Andrew G Alleyne

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

High resolution elevation mapping is useful for precise field operations. To achieve a good operation performance, the requirement of the field shape accuracy can be centimeter-level in some tasks. This paper presents a method of conducting high resolution elevation mapping with vehicle-borne sensors. To achieve this purpose, a laser range sensor obtains geometric information of the ground surface while an Inertial Navigation System (INS) and vision sensor provide high resolution measurements of the moving vehicle's current location and attitude. The high frequency information from the INS captures the vehicle dynamics, and the low frequency vision sensor data enables vehicle self-localization by eliminating drift error in the INS measurements. A test run of this system was conducted experimentally. And the inclusion of vision-based measurements was shown to improve the accuracy of the ground elevation comparing with an INS-only method.

Original languageEnglish (US)
Title of host publicationActive Control of Aerospace Structure; Motion Control; Aerospace Control; Assistive Robotic Systems; Bio-Inspired Systems; Biomedical/Bioengineering Applications; Building Energy Systems; Condition Based Monitoring; Control Design for Drilling Automation; Control of Ground Vehicles, Manipulators, Mechatronic Systems; Controls for Manufacturing; Distributed Control; Dynamic Modeling for Vehicle Systems; Dynamics and Control of Mobile and Locomotion Robots; Electrochemical Energy Systems
PublisherAmerican Society of Mechanical Engineers
ISBN (Electronic)9780791846186
StatePublished - Jan 1 2014
EventASME 2014 Dynamic Systems and Control Conference, DSCC 2014 - San Antonio, United States
Duration: Oct 22 2014Oct 24 2014

Publication series

NameASME 2014 Dynamic Systems and Control Conference, DSCC 2014
Volume1

Other

OtherASME 2014 Dynamic Systems and Control Conference, DSCC 2014
CountryUnited States
CitySan Antonio
Period10/22/1410/24/14

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering

Fingerprint Dive into the research topics of 'High resolution digital elevation modeling with on-vehicle sensors'. Together they form a unique fingerprint.

  • Cite this

    Liang, M., Xu, C., Xie, Y., & Alleyne, A. G. (2014). High resolution digital elevation modeling with on-vehicle sensors. In Active Control of Aerospace Structure; Motion Control; Aerospace Control; Assistive Robotic Systems; Bio-Inspired Systems; Biomedical/Bioengineering Applications; Building Energy Systems; Condition Based Monitoring; Control Design for Drilling Automation; Control of Ground Vehicles, Manipulators, Mechatronic Systems; Controls for Manufacturing; Distributed Control; Dynamic Modeling for Vehicle Systems; Dynamics and Control of Mobile and Locomotion Robots; Electrochemical Energy Systems (ASME 2014 Dynamic Systems and Control Conference, DSCC 2014; Vol. 1). American Society of Mechanical Engineers.