Roadscanner: Feasibility Study and Development of a GNSS-Probe for Creating Digital Maps of High Accuracy and Integrity

AbstractThis paper describes the main outcome of the Roadscanner project, in developing a Vehicle Probe prototype equipped with a Global Navigation Satellite System (GNSS) receiver, an Inertial Navigation System (INS) and a Laser Scanner (LS) unit to create digital maps of high accuracy and integrity.GNSS have become an important factor in transport with limitless possibilities. The GNSS concept is based on a constellation of satellites that provides autonomous geo-spatial positioning with global coverage. This enables GNSS receivers to calculate a Position Velocity Time (PVT) solution using the signals transmitted from satellites along the line-of-sight to the receiver. Following the obvious application of navigation and guidance for various types of vehicles, the advances in accuracy and integrity of PVT have enabled other uses, such as Advanced Driver Assistance Systems (ADAS) and digital automotive simulations. However, GNSS also has intrinsic limitations (subject for example to radio-frequency interference, signal availability and vehicle dynamics), which can be a serious hindrance for demanding applications, where accuracy and integrity are critical.In order to remedy GNSS drawbacks, the satellite receiver data can be integrated with additional sensors, such as an INS. The sensor fusion provides a solution of enhanced accuracy, robustness and integrity and also yields attitude information. Furthermore, adding a laser scanner (LS) provides road surface measurements, which are important for simulation, or road surface quality inspection