Indoor Mapping with Back-pack

The Ellipse2-D RTK INS helps SLAM computation, synchronizes LiDAR and Camera

It has been years now that we work with SBG Systems and the Ellipse Series in particular. We have always relied on these robust inertial sensors

Jérôme Ninot, Founder of VIAMETRIS

Backpack-based Mobile Scanning System

The bMS3D-360 has been designed for the most challenging environments. It embeds two Velodyne LiDAR sensors, a 360 Lady-bug camera, the Ellipse2-D the SBG inertial navigation system with internal L1/L2 GNSS receiver, and a computer.

 

 

A Workflow Quickened by 7 times

The workflow is simple. The surveyor starts the system, checks on a tablet that the GNSS and inertial information are computed, and starts the survey. Back at the office, the user launches the INS/GNSS post-processing software to increase orientation and position accuracy, and then uses the VIAMETRIS software to georeference and colorize the point cloud. Collected data are ready to be imported into the most common design software. This workflow is quickened by 7 times in comparison with a traditional method.

When the GNSS faces sources of disturbance, the INS maintains the trajectory were the SLAM technology is limited.

The RTK INS to Aid the SLAM Computation

In real-time, Ellipse2-D orientation data are used to correct the equipment attitude and help the SLAM computed heading. Indeed, if the SLAM-based heading is provided at 20 Hz, the inertial-based heading is delivered at 200Hz. Between two SLAM information, the INS keeps the heading robust. When the GNSS faces sources of disturbance, the INS maintains the trajectory were the SLAM technology is limited.

Ellipse-D

Dual Antenna RTK INS

  • 0.05° Roll and Pitch (RTK)
  • 0.2° Heading (Dual Antenna RTK GNSS)
  • Immune to magnetic distortions
  • 1 cm RTK GNSS Position
  • Tiny OEM module available
  • Post-processing with Qinertia PPK Software
  • Full Development >>
  • ROS Driver
More info ››
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