Method for determining a track of a geographical trajectory

A method for determining a track of a geographical trajectory which has a predetermined start location and a predetermined end location, said method comprising the steps of:

• a) moving a data collecting device from the start location to the end location and while the device is being moved, sample wise collecting physical measurement data related to the movement of the device by a set of onboard sensors of the device, the sensors being synchronised to a common clock signal for said sample wise collection of physical measurement data, wherein the onboard sensors comprise a combination of sensors from whose measurement data a heading profile, a pitch profile and a roll profile are obtained and an odometer measuring a distance travelled with respect to the start location and from whose measurement data a distance profile is obtained,
• b) determining said heading profile, said pitch profile, said distance profile and said roll profile based on the collected measurement data,
• c) determining said track based on said heading profile, said pitch profile, said distance profile and said roll profile,
• characterised in that the method further comprises the step of:
• d) collecting trajectory heading and/or pitch information from geographical information and/or trajectory constraints,
• e) organising the collected trajectory heading and/or pitch information as measurement data of a virtual sensor, which provides data as if it were incorporated in the data collecting device, with a sample rate synchronous to that of the common clock signal of the data collecting device,
• and that all said physical measurement data are stored during the movement of the device from the start location to the end location and that, after retrieval of the stored measurement data and before determining said profiles, the method further comprises the steps of:
• f) determining another trajectory parameters based on synchronously collected measurement data of one or more onboard sensors of said set, said synchronously collected measurement data forming part of said stored measurement data, and further trajectory parameters based on the measurement data of the virtual sensor, and trajectory parameters being deduced to relate to a single physical quantity, and mapping said trajectory parameters,
• g) determining an error compensation for said measurement data of said one or more onboard sensors based on said mapping,
• h) correcting said measurement data of said one or more onboard sensors by means of said error compensation.

A method for determining a track of a geographical trajectory which has a predetermined start location and a predetermined end location, said method comprising the steps of:

• a) moving a data collecting device from the start location to the end location and while the device is being moved, sample wise collecting physical measurement data related to the movement of the device by a set of onboard sensors of the device, the sensors being synchronised to a common clock signal for said sample wise collection of physical measurement data, wherein the onboard sensors comprise a combination of sensors from whose measurement data a heading profile, a pitch profile and a roll profile are obtained and an odometer measuring a distance travelled with respect to the start location and from whose measurement data a distance profile is obtained,
• storing all said collected physical measurement data during the movement of the device from the start location to the end location,
• c) retrieving, from said stored measurement data, synchronously collected measurement data of a first, respectively second sensor of said set, wherein the first sensor measures a different physical quantity from the second sensor,
• d) determining at least first, respectively second trajectory parameters based on said Synchronously collected measurement data, the first and second trajectory parameters being deduced to relate to a single physical quantity, and mapping said first trajectory parameters on said second trajectory parameters,
• e) determining an error compensation for said measurement data of said first and said second sensors based on said mapping,
• f) correcting said measurement data of said first and second sensors by means of said error compensation,
• g) determining said heading profile, said pitch profile, said distance profile and said roll profile based on the corrected measurement data and other collected measurement data among said stored measurement data,
• h) determining said track based on said heading profile, said pitch profile, said distance profile and said roll profile.

A method for determining a track of a geographical trajectory which has a predetermined start location and a predetermined end location, said method comprising the steps of:

• a) moving a data collecting device from the start location to the end location and while the device is being moved, sample wise collecting physical measurement data related to the movement of the device by a set of onboard sensors of the device, the sensors being synchronised to a common clock signal for said sample wise collection of physical measurement data, wherein the onboard sensors comprise a combination of sensors from whose measurement data a heading profile, a pitch profile and a roll profile are obtained and an odometer measuring a distance travelled with respect to the start location and from whose measurement data a distance profile is obtained,
• b) storing all said collected physical measurement data during the movement of the device from the start location to the end location,
• c) collecting trajectory heading and/or pitch information from geographical information and/or trajectory constraints,
• d) organising the collected trajectory heading and/or pitch information as virtual measurement data of a virtual sensor, which provides data as if it were incorporated in the data collecting device, with a sample rate synchronous to that of the common clock signal of the data collecting device,
• e) retrieving, from said stored measurement data, synchronously collected measurement data of one or more onboard sensors of said set,
• f) determining another trajectory parameters based on said synchronously collected measurement data and further trajectory parameters based on said virtual measurement data, and trajectory parameters being deduced to relate to a single physical quantity, and mapping said trajectory parameters,
• g) determining an error compensation for said measurement data of said one or more onboard sensors based on said mapping,
• h) correcting said measurement data of said one or more onboard sensors by means of said error compensation,
• i) determining said heading profile, said pitch profile, said distance profile and said roll profile based on the corrected measurement data and other collected measurement data among said stored measurement data,
• j) determining said track based on said heading profile, said pitch profile, said distance profile and said roll profile.