Page 194 - 卫星导航2021年第1-2合期

Li et al. Satell Navig (2021) 2:1 Page 8 of 14

Fig. 3 Top view of the trajectory on google earth (top) and the typical situations (bottom) in tree-lined roads

Table 2 Basic information on the devices
Devices details
GNSS receiver Septentrio PolaRx5
(Septentrio Corporation 2019)
IMU make/model iMAR IMU-FSAS
(NovAtel Corporation 2015)
IMU output rate 200 Hz
Camera make/model FLIR GS3-U3-28S5M-C
(FLIR Corporation 2019)
Camera lens HC1605A
Image frame rate 10 Hz
Image resolution 1920 * 800 pitches

smoothed solution of tightly coupled multi-GNSS RTK/
INS is used as the ground truth, which is calculated
by the commercial software Inertial Explorer (IE) 8.7
Fig. 4 The experimental equipment including the hardware platform (NovAtel Corporation 2018b).
(top) and the data acquisition vehicle (bottom)