GPS Positioning of Some Objectives Which are Situated at Great Distances from the Roads by Means of a “Mobile Slide Monitor – MSM” - Cartography: A Tool for Spatial Analysis - page 171

network of fixed reference base stations as it is the ROMPOS network in Romania, which is
able to transmit to its customers differential correction data.

4.4. Determination of the offset values between the GPS positioning point of the
Inertial Measuring Unit and the central reference point “L” of the video camera

4.4.1. The offset linear components in relation to the reference system (x V , y V , z V ) of the lab
vehicle

- The geographic coordinates (longitude, latitude) for the vehicle positioning are

provided by the GPS system, more precisely, for the IMU point in which the Inertial
Measuring Unit is placed (Fig.19);

x C

z  V

y  V

z V

L

f sinΘ C

x' C

f

y V

Θ C
Ψ C

f sinΨ C cosΘ C

C

x  V

f cosΨ C cosΘ C

p

n

m

x V

IMU

Figure 19. The relative positioning between the Inertial Measuring Unit (IMU) and the Video Camera
coordinate systems