A minivan is equipped to navigate city streets with perfectly plotted trajectories to serve as a benchmark. In spite of the reduced availability of satellite links and multi-paths due to urban canyons, on-board equipment accurately records the vehicles different positions.
Equipment
1. GNSS antenna
2. GBOX : High accuracy recorder/ receiver
3. IMU : Inertial Measurement Unit
4. ODOMETER : To count the number of wheel rotations
5. CAMERA : Identification of the environment and the spatial opening
6. Rugged tablet PC with its software suite
7. RTK (Real time Kinetic) reference station