Evaluating the Vehicle Trajectory obtained from Mobile Mapping System

Abstract

This article presents an evaluation of vehicle trajectory errors in road survey mapping using Mobile Mapping Systems (MMS), addressing the research gap in understanding how vehicle speeds and GNSS baseline lengths affect mapping accuracy. The evaluation employs two methods: Method 1 assesses the positional accuracy of trajectories processed with different GNSS baselines by comparing positions between epochs, and Method 2 assesses the positional accuracy of point cloud data at different speeds by comparing Real-Time Kinematic (RTK) positions with point cloud positions, using RMSE as the quality index. The research demonstrates that longer GNSS baselines decrease positional accuracy, a trend also observed with increased vehicle speed. Positional accuracies for RMSE2D and RMSE3D averaged 6 centimeters and 10 centimeters, respectively, in Method 1. Furthermore, in Method 2, the MMS-III system's performance was inadequate due to RMSE2D values exceeding 20 centimeters and RMSE3D values exceeding 30 centimeters, while the MMS-II system exhibited the best results, with almost configurations meeting the accuracy standards.