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Summary of doctoral thesis in engineering

Thesis · March 2019

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 MINISTRY OF EDUCATION AND TRAINING
HANOI UNIVERSITY OF MINING AND GEOLOGY

TRAN TRUNG CHUYEN

RESEARCH ON THE SOLUTIONS TO INTEGRATE

GNSS/INS SYSTEMS ON SMART DEVICES FOR
GEOMATICS

SUMMARY OF DOCTORAL THESIS IN ENGINEERING

Major: Surveying and Mapping Eng.
Code: 9520503

HANOI - 2018
The dissertation was completed at the Department of Photogrametry
and Remote sensing, Faculty of Geomatics and Land Administration,
Hanoi University of Mining and Geology.

Scientific Supervisors:

1. Assoc. Prof. Dr. Nguyen Truong Xuan

2. Dr. Dao Ngoc Long

Reviewer 1: Assoc. Prof. Dr. Trinh Le Hung

Reviewer 2: Assoc. Prof. Dr. Nhu Thi Xuan
Reviewer 3: Dr. Nguyen Van Sang

The dissertation will be defended before the Academic Review

Board at the University level at Hanoi University of Mining and
Geology at 08 : 30 of date 06 month 04 year 2018.

The thesis is available at the National Library of Vietnam or the

Library of Hanoi University of Mining and Geology.
 1

Introduction

1. The urgency of the subject

Geomatics works include the measurement and display of information

on the ground as a basis for the display of other information associated with
the ground. Since the 1960s in Vietnam, maps have been established using
traditional methods, including the construction of national coordinates and
altitude networks as a basis for all work on drawing and mapping based on
the measurements of the dedicated meter; print out copies of maps for a
variety of purposes. High-precision dedicated meters are used in mapping
have a high cost. With the development of computer technology, imagery
obtained from satellites and Global Positioning System (GPS), mapping
becomes easier. GPS receivers have become an important tool for locating,
navigating, searching for objects of interest, sending instant location infor-
mation, updating spatial information, helping with surveying and mapping.
Handheld GPS receivers are less expensive than dedicated GPSs, but they
are not accurate enough to build geodetic control points or high precision
work. However, handheld GPS is still a useful tool to assist decision-making
and assist in the work of surveying and mapping for many years.
Along with the development of technology, smart phones, tablets,
smart clocks, collectively known as smart devices have been born equipped
with component receiver Global Navigation Satellite Systems (GNSS) and
sensors [3, 7]. In the smart devices mentioned above, smartphones, the sub-
ject of this study are equipped with components including operating system,
positioning hardware and sensors, which are usually updated, upgraded, and
improved performance. One of the most important features of the smart-
phones is that user can take advantage of the built-in hardware to create
applications for the smartphone to function as a new device, which effec-
 2

tively works in specific tasks such as positioning coordinates in surveying

and mapping. If smartphone can meet the required positioning accuracy of
certain tasks in surveying and mapping, it can be used to replace the similar
precision coordinates device. It helps to shorten the time, reduce the cost
of geomatics products. To assess the applicability of smart devices during
the surveying and mapping process, we used the built-in GNSS hardware to
programming and developing the app for acquiring and field data to calcu-
late the coordinates of the points and route map and evaluate the accuracy
of the points obtained with the iPhone. The results of coordinates accuracy
of iPhone and handheld GPS are equivalent, this work has been published
in the article SCIE international scientific journal and we also distributed
two applications on the App Store.
Smartphone has been successfully applied in surveying and mapping
in a number of specific tasks such as measuring and updating geological
objects, traffic route objects, administrative boundary objects, forest and
forest land objects for a map scale of 1:5000 or smaller, forest area mea-
suring, forest reserve, searching geodetic control points, searching for photo
control points. In fact, the GNSS positioning hardware was available on
smartphones at the time of 2009 and 2017 has not changed significantly in
technology so precision coordinates are not improved [1, 11]. Therefore, the
scope of application of smartphone in surveying and mapping is limited and
there should be research to improve the accuracy of positioning coordinates
on the smartphone.
The accuracy of GNSS coordinate positioning on smartphones de-
pends on main factors such as GNSS hardware, the capability to retrieve
satellites signal, positioning solution and technology. In order to improve the
positioning accuracy of the smartphone, it is essential to upgrade the posi-
tioning hardware and processing software, incorporate external positioning
 3

hardware, or utilize built-in inertial sensors to come up with the solution to

integrating GNSS/INS.
Upgrading positioning hardware and processing software of the smart-
phone is the task that depends all upon manufacture and current technology.
Combining external hardware may be considered too but that method re-
quires an extra cost, hence taking advantage of built-in sensors to integrate
GNSS/INS will be the appropriate method without the need of equipping
any external device.

2. Purpose, objective and scope of the research

• Purpose of this thesis is to research a solution for integrating GNSS/INS

on smartphones to improve coordinates positioning accuracy.

• The research object is GNSS and Inertial Navigation System (INS) on

Smartphone; the gyros and accelerometer sensors of Smartphone.

• The scope of this research is to improve coordinate positioning accuracy

of Smartphone to apply for geomatics task.

3. The research methodology

The research methodology of the thesis is based on a combination of

theoretical study and experiment, which is ensured by strict mathematical
knowledge and software development along with experimental simulation
for verification of reliability and consultancy of experts in the field of Elec-
tronics, Telecommunications, Information Technology and Geomatics.

4. The scientific and practical significance of the research

• Scientific significance
 4

– Addition to the theory of integrated GNSS/INS positioning on smart-

phones.
– Introduce the scientific basis of the solution to integrate GNSS/INS
on smartphones for surveying and mapping.

• Practical significance
– Scientific publications on positioning accuracy using smartphones
will help reduce the cost of specialized equipment with similar accu-
racy.
– Shorten the time, reduce the cost of geomatics product.
– Enhanced positioning accuracy on smartphones by integrating GNSS/INS.
– Open up the experimental direction of GNSS/INS integration with
lower cost and easier application.
– Open up the ability to calculate and manufacture GNSS/INS re-
ceivers in Vietnam.

5. Theoretical points and the new features of the dissertation

• Theoretical points of the dissertation

– The current smartphones equipped with GNSS hardware are fully
capable of being used in geomatics.
– Estimating the inertial sensor error is essential for the GNSS/INS
integration solution to improve coordinate accuracy on the smart-
phone.

• New features of the dissertation

– The proposed method of standardizing the effect of rotational speed
of the Earth on the axes of angular rate sensors for calibration tech-
niques without the need for external reference devices to solve the
 5

problem of confusing rotating the Earth with the noise of low-cost

sensors and inertial sensors available on smart devices.
– Inertial sensor calibration module is programmed to be able to per-
form visualization on the smartphone in real time, making it easy to
calibrate the field and test it before the test.
– The GPS and Field data collection app is developed on iOS platform
for applied in geomatics.

6. Structure of the dissertation

The thesis consists of an introduction, an overview, three chapters,

concluding remarks on further studies, lists of published works of authors,
reference lists and appendices. The contents of the thesis are presented in
133 pages, with the main contents being 105 pages, 50 pictures and graphs,
13 tables, and 60 references.

7. Document and References

The thesis is built on the basis of documents from international official

sources such as ISI, Scopus and technology firms such as Apple Inc., Google
Inc., InvenSense Inc., Qualcomm Technologies, Inc., Chipworks Inc.
 6

Chapter 1

Estimating the error of sensors inertial of

smartphones

1.1 Summary

Solving the problem of estimating the error caused by inertial sensors

affects the ability of the Inertial Measurement Unit (IMU) in the INS.
Analyze and propose methods to address the problems of previous studies.

1.2 Introduction

Introduction of inertial sensors included in the iPhone device to build

IMUs in INS. The error sources of inertial sensor, the characteristics and
the way of addressing errors are shown in Table 1.1.

Table 1.1: Characteristics and treatment of sensor error sources

Characteristic Treatment (remove/minimize)

Error
Determined Statistic Calibration Modeling

Bias X X X X
Scaling coefficient X X
Non-orthogonal X X
Noise X X

1.3 Error model and sensor noise compensation

If the True specific forces vectors (f ) and the True angular velocities
(ω ) are true values, then Output of accelerometers (fˆ) and Output of gyros
 7

(ω̂ ) will be written in the standard mathematical model as follows [4]:

fˆ ≈ [I + Sa + δSa ]f + ba + δba + wa (1.1)

ω̂ ≈ [I + Sg + δSg ]ω + bg + δbg + wg (1.2)

After defining the deviation and the scaling factors, the sensor data will be
compensated in accordance with Equations 1.3 and 1.4.
fˆ − ba − δba − wa
f= (1.3)
I + Sa + δSa
ω̂ − bg − δbg − wg
ω= (1.4)
I + Sg + δSg

1.4 Inertial sensor calibration

1.4.1 Introduction

In the inertial sensors, the calibration is to eliminate the deterministic

noise, ie, compare the measured value with a known reference value.

1.4.2 Six-position sensor calibration technique

a) Basis of selection of calibration techniques

This study uses six-position sensor calibration to apply to smartphone

sensor calibration due to its reliability and simplicity,which suits the low cost
sensors [4].

b) Calibrating angular rate sensor

For angular rate sensors, rotating the axis clockwise one-half rotates the
rotational speed component of the earth in the output of the angular velocity
sensor Figure 1.1.
 8

ωe ωe
ωe
ωe
North pole North Up

ωe East

Plane

Latitude
Equator R

Logitude

Rotary South pole

Figure 1.1: Smartphone angular sensor calibration model

c) Acceleration sensor calibration

The theoretical basis of this technique is that in one location, the grav-
itational acceleration acting on an object is the same, hence the use of two
alternating directions of the acceleration sensor axis separates Local gravita-
tional acceleration in accelerometer output data Figure 1.2.
X=Up Y=Up Z=Up
Y

Z
Z
X
g
(a) (c) (e)
g
Y
g

Y Y
iPhon
e X

Z X

Z
iPh
one
g
g
g
X=Down (b) Y=Down
(d) Z=Down (f)

Figure 1.2: Smartphone acceleration sensor calibration model

(a) The X axis is opposite with g; (b) X axis is in the same direction as g; (c) The Y axis is opposite with g; (d)
Y axis is in the same direction as g; (e) The Z axis is opposite with g; (f) Z axis is in the same direction as g.
 9

1.5 Inertial sensor data analysis and modeling

1.5.1 Introduction

In this section, the Allan Variance Analysis method is used to determine

the random disturbance of the inertial sensor in the smartphone.

1.5.2 Methodology

Divide the output signal into independent data sets and then take the
mean of time τ = mτ0 to produce new overlapping clusters Figure 1.3.

Samples
Output signal

Overlapping samples

Time

Figure 1.3: Sampling in clusters

1.5.3 Noise analysis using Allan variance

The purpose of noise analysis using the Allan method is to determine the
characteristic parameters of each noise type shown in Table 1.2 [5].

Table 1.2: Characteristics of random error of the sensor

Types Allan variance Noise coefficient Slope τ

3Q2
√
Quantization Noise τ2 Q −1 3
N2
Random Walk τ N − 21 1
2B 2 ln 2
Bias Instability π B 0 −
K 2τ
Rate Random Walk 3 K + 12 3
R2 τ 2
√
Drift Rate Ramp 2 R +1 2
 10

Chapter 2

Integrating GNSS/INS on the smartphone

2.1 Summary

This chapter presents the theoretical basis for building IMU and deploying
IMU building on smartphone for GNSS/INS integration problem.

2.2 Introduction

Apply posture determining attitude and GNSS/INS integration in the

document of Grewal, Andrews, and Bartone [10], and Groves [6], combined
with the Attitude and Heading Reference Systems (AHRS) of Madgwick [9] to
implement IMU and integrate GNSS/INS on smartphones.

2.3 Overview of coordinates and dynamics

Coordinates and relationships between them are important mathematical

foundations for addressing the GNSS/INS integration problem.

2.3.1 Coordinates system are used

In the integrated system, there will be a connection of many reference

frames that need to be addressed such as Earth-Centered Inertial (ECI); Earth-
Centered, Earth-Fixed (ECEF); Navigation frame (n-frame); Body frame (b-frame).

2.3.2 Earth dynamics

Quantities, such as position, speed, acceleration, and angular velocity, in-

volve three major coordinate systems: (1) α system; (2) β system; (3) γ system.
 11

2.4 Inertial nagigation system

INS is a complete three-dimensional navigation system consisting of ac-

celerometers and angular velocity sensors used to build the IMU.

2.5 Global Navigation Satellite Systems

GNSS use satellites to locate the receiver on the surface of the earth.

2.6 Using the smartphone to locate the position

The smartphone operating system allows end users to retrieve information

from a pre-configured GNSS receiver by providing an API for developers with
a maximum bandwidth of around 1Hz.

2.7 Implementing of IMU in the smartphone

2.7.1 Orientation using angular rate sensor

The measured values of the angular rate sensor will form the vector S ω
and defined according to Equation 2.1. The first derivative of the quaternion of
the sensor system versus the Earth system E
S q̇ is given by Equation 2.2 [2].
h i
S
ω = 0 ωx ωy ωz (2.1)

E 1S
S q̇ = ω ⊗E
S q̂ (2.2)
2

2.7.2 Orientation using accelerometer sensor

The accelerometer sensor measuring the acceleration along the x, y and z

axes has the intensity component and the local gravity direction on the axes.
 12

2.7.3 Integrated orientation algorithm to implement an IMU

The directional estimation of the inertial system in the Earth system is

called the combined-directional algorithm computed by quaternion Figure 2.1

Accelerometer
S at J Tg (ESqest,t-1 ) f g (ESqest,t-1, S at )

∇f
||∇f||
z -1
¯
Gyros
1 S ! ⊗ Eq ∫ .dt q
S
!t Eq
2 t S est,t-1 ||q||
S est,t
E q
S est,t

z -1

Figure 2.1: Block diagram of the orientation filter for an IMU [8]

2.8 GNSS/INS integration in the smartphone

The overall architecture of the system is shown in Fig. 2.2(b). Fig. 2.2
this shows the change of the system before and after integration.
Smartphone GNSS Smartphone GNSS
Apps Hardware, SoC signal Apps Hardware, SoC signal
3G/LTE WiFi 3G/LTE WiFi
Antenna

Antenna

GNSS GNSS/INS
A-GNSS A-GNSS

Gyroscope IMU Gyroscope

Games Accelerometer Accelerometer

Magnetometer Magnetometer
Game Game
Games
Sensor fusion Sensor fusion

WLAN Bluetooth WLAN Bluetooth

... ...
... ...

(a) (b)

Figure 2.2: The overall architecture of the GNSS/INS system in the smartphone
(a) pre-integrated system; (b) system after integration
 13

2.8.1 Integrated architecture

Use closed loop configuration for integrated algorithm Figure 2.3.

sensor calibration
GNSS
coeffiencents IMU
receiver
(system error)

GNSS Inertial
aiding information
ranging navigation
processor equations

Sensor
GNSS error model
error model (random error)

GNSS/INS
GNSS r, v closed-loop
integration
Kalman filter corrections
Kalman filter

INS
correction

GNSS
navigation Integrated navigation Integrated navigation
solution solution (open-loop) solution (closed-loop)

Figure 2.3: Loosely coupled GNSS/INS integration architecture on smartphones

2.8.2 Data processing with extended Kalman filtering

a) System model

A system model based on the INS error model is presented in section 1.5.
      
n n
δ ṙ F F12 O3×3 δr O O
   11     3×3 3×3  δf b
 

δ v̇  =  F21 F22 F23  δv n  +  Cbn O3×3   (2.3)

 n      
       δω b
ib
ψ̇ O3×3 O3×3 F33 ψ O3×3 Cbn
 14

b) GNSS measurement model

GNSS measurement is the position of the receiver in the ECEF system

and is written as a function of the state vector as follows:

e e e
δzGN SS(k) = [rIN S − rGN SS ] = HGN SS Cn xk + ηr (2.4)

c) Calculating using EKF

Position vector and corresponding covariance matrix at time k are esti-

mated based on those parameters at time k + 1.

x̂−
k = Φk−1;k x̂k−1 (2.5)

Pk− = Φk−1;k Pk−1 ΦTk−1;k + Qk (2.6)

When there are support measures, state vectors and covariance matrices
are updated based on the following formula:
−1
Kk = Pk− HkT Hk Pk− HkT + Rk

(2.7)

x̂k = x̂− −


k + Kk zk − H x̂k (2.8)

Pk = Pk− − Kk Hk Pk− (2.9)

where, x̂k−1 , Pk−1 , x̂− −

k , Pk , x̂k , Pk in turn is the state vector and the covariance

matrix at time k − 1, predicted incorrect at time k, updated at time k, Rk is

the covariance matrix of the disturbance measure.
 15

Chapter 3

Experiments and results

3.1 Inertial sensor calibration

3.1.1 Experimental environment

Room temperature is 25o C. The sampling frequency is set to 100Hz. The

sampling time at each calibration position is at least 30 seconds [4].

3.1.2 Results and discussion

The C6W calibration technical, if not using the correct equipment for
reference, then the proportional and non-orthogonal factors of the angle-angle
sensor have a large error. Applying the proposed techical (C6X) yields more
appropriate results as shown in Table 3.1 and Table 3.2.

Table 3.1: Accelerometer sensors calibration (C6X)

Bias (mGal) Scale factors (ppm) Non-orthogonal factors (ppm)

Device
bx a b ya b za SXX a SY Y a SZZ a SXY a SXZ a SY X a SY Z a SZX a SZY a

TB1 4,739 26,946 7,267 -1,798 -2,017 963 3,170 -16,064 4,613 -385 16,098 -4,836
2
TB 5,392 20,525 4,475 -2,759 -2,552 519 2,348 -26,971 4,671 19,948 22,476 -17,589

1 iPhone 6 Plus, iOS 10.2.1, Serial F2LNJH7TG5QQ 2 iPhone 6 Plus, iOS 10.2.1, Serial FK1NTA7VG5QM

Table 3.2: Gyros sensors calibration (C6X)

Bias (o /h) Scale factors (ppm) Non-orthogonal factors (ppm)

Device
bx g b yg b zg SXX g SY Y g SZZ g SXY g SXZ g SY X g SY Z g SZX g SZY g
1
TB -5,056 9,159 -1,965 92 -245 11 267 -193 -188 -256 9 40
2
TB -446 3,820 1,277 387 -64 -376 -417 -949 60 -648 -5 -15

1 iPhone 6 Plus, iOS 10.2.1, Serial F2LNJH7TG5QQ

2 iPhone 6 Plus, iOS 10.2.1, Serial FK1NTA7VG5QM
 16

3.2 Analysis and modeling of inertial sensor data

3.2.1 Experimental environment

The samples were conducted in the Geo-Informatics Laboratory of the

University of Mining and Geology with room temperature of 25o C.

3.2.2 Results and discussion

Allan curve of the gyros sensor

10 -2
Gyro X
Gyro Y
Gyro Z
( ) (rad/s)

B (x) = 0.00524°/s/�Hz
10 -3
B (y) = 0.00291°/s/�Hz
B (z) = 0.00144°/s/�Hz
Allan deviation

10 -4
N (x) = 0.00902°/s/�Hz
N (y) = 0.00738°/s/�Hz
N (z) = 0.00525°/s/�Hz

10 -5
10 -2 10 -1 10 0 10 1 10 2 10 3 10 4
Cluster time (giay)

Figure 3.1: Allan curve of the gyros sensor of the iPhone 6 Plus
Allan curve of the accelerometer sensor
10 -1
Acce X
Acce Y
Acce Z
B (x) = 0.00100m/s²/�Hz
( ) (m/s2 )

B (y) = 0.00018m/s²/�Hz
10 -2 B (z) = 0.00095m/s²/�Hz
Allan deviation

10 -3

N (x) = 0.00177m/s²/�Hz
N (y) = 0.00052m/s²/�Hz
N (z) = 0.00147m/s²/�Hz
10 -4
10 -2 10 -1 10 0 10 1 10 2 10 3 10 4
Cluster time (giay)

Figure 3.2: Allan curve of the accelerometer sensor of the iPhone 6 Plus

Fig. 3.1 and Fig. 3.2 show the Allan deviation curve of inertial sensors in
the iPhone 6 Plus tested.
 17

Table 3.3: Estimation of inertial noise sensitivity of the iPhone 6 Plus1

√ √
Gyros sensor (o /h/ Hz) Accelerometer sensor (µm/s2 / Hz)
Type Symbol
σx σy σz RMS σx σy σz RMS

Quantization Q 25.96 20.74 14.55 20.94 1542 402 1191 1148

Random Walk N 32.48 26.56 18.90 26.57 1774 518 1469 1363
Bias Instability B 19.30 10.45 5.29 13.03 992 181 940 796
Rate Random Walk K 21.54 16.62 11.33 17.02 1338 317 1003 983
Drift Rate Ramp R 28.07 22.68 16.03 22.80 1625 441 1282 1222

1 iPhone 6 Plus, iOS 10.2.1, Serial F2LNJH7TG5QQ

3.3 GNSS/INS integration on the smartphone

3.3.1 Experimental environment

The experiment was carried out by attaching a fixed smartphone to a car,

called SDLogger 1.0, on the iOS platform.

3.3.2 Results and discussion

The GNSS/INS horizontal accuracy improvement was 62% compared to

GNSS in the smartphone as shown in Table 3.4. The improvement in vertical
reached 89%, much higher than the horizontal improvement.
Table 3.4: GNSS/INS integrated navigation accuracy on the iPhone 6 Plus1

GNSS (RMSE) GNSS/INS (RMSE) Improvement

Symbol
Velocity (m/s) Position (m) Vel. (m/s) Pos. (m) Pos. (%)

N 0.055 3.709 1.365 1.153 69

E 0.048 3.666 1.133 1.630 56
D 0.058 7.015 0.591 0.764 89
1 iPhone 6 Plus, iOS 10.2.1, Serial F2LNJH7TG5QQ
 18

3.4 Applied in geomatics

3.4.1 Experimental environment

The updated road map was conducted outdoors at 35◦ C. Smartphones

and accessories include: The Trimble R2, which is used to determine the refer-
ence route with the default RTK continuous measurement mode, with a preci-
sion setting of 5cm; The Garmin 72H handheld GPS, which is used to determine
the route of the reference.

3.4.2 Experimental area

The experimental route was conducted near center of the Hanoi city, the
northern latitudes are from 21◦ 0′ 3.247” to 21◦ 2′ 18.373” and from 105◦ 45′ 56.486”
to 105◦ 48′ 45.923” east longitude Fig. 3.3).

Figure 3.3: Measurement route and experimental area

 19

3.4.3 Results and discussion

With about 50 minutes of continuous measurement, power consumption

on the iPhone 6 Plus is about 10%. The dedicated GNSS Trimble R2 device,
which is set by default at 5cm accuracy and is continually measured to make a
reference route and complete data retention with multiple data-loss-paths while
traveling across tall buildings and large trees Fig. 3.4. When passing through
the overpass tunnel, all the devices do not receive the GNSS signal from the
satellite. Some of the sections that have a significant iPhone location position
error Fig. 3.5 and Fig. 3.6) are some of the most affected parts of the device’s
obscured satellite view.

The inclusion of GNSS/INS for iPhone’s updating route data has signif-
icantly improved location accuracy as stated in the experimental section 3.3.

Figure 3.4: Positions are often interrupted by satellite signals, reducing GNSS precision
 20

Figure 3.5: Segment of large GNSS position error on iPhone (1)

Figure 3.6: Segment of large GNSS position error on iPhone (2)

 21

Conclusions and Recommendations

1. Conclusions

The thesis has analyzed and evaluated more than 60 scientific works re-
lated to the topic published on international official sources such as ISI, Scopus
and technology firms such as Apple Inc., Google Inc., InvenSense Inc., Qual-
comm Technologies, Inc., Chipworks Inc., to identify the remaining problems
that need addressing in integrating GNSS/INS on smart devices. A brief de-
scription of the research work can be found in the two main content areas:

The first point of this thesis is the assessment of the ability to use smart-
phones in geomatics include: programming location coordinates software using
GNSS hardware available on iPhone device; Relocation of coordinates and pro-
jection grid makes the iPhone more functional as a handheld GPS navigation
device dedicated for use in geomatics. The empirical part is to locate the coordi-
nates of the points and to measure the position accuracy of the points obtained
by the iPhone. This work was published in the international scientific journal
SCIE. The accuracy rating is also compared with the dedicated handheld GPS
(Garmin eTrex 10), resulting in an error in the iPhone 4 of ±4.11m, while the
Garmin eTrex 10 ground fault is smaller slightly ±3.70m; The iPhone’s alti-
tude error is ±3.53m, while the Garmin eTrex 10 altitude error is slightly larger
at ±4.12m. The difference in accuracy between the iPhone 4 and the Garmin
eTrex 10 is negligible and it can be concluded that they have the same metric
accuracy. Thus, with the equivalent of handheld GPS, there is no need for addi-
tional hardware, and can connect to the Internet, connect to the Internet, take
a picture with coordinates, send, receive and process data. As a result, a smart
device, iPhone, with fully developed software can be applied in geomatics for
 22

categories that do not require high accuracy.

The second content of this research is to improve the accuracy of the

GNSS positioning of the smartphone by making use of the built-in inertial sen-
sor, including the identification of error sources and error components. Inertial
sensors are responsible for the integration of GNSS/INS on the smartphone;
programmable inertial sensor calibration function module to determine system
errors, 12 factors for accelerometer sensor and 12 coefficients for gyros sensor
in iPhone in real time; programmable module inductive sensor data acquisition
for analyzing and modeling sensor data, identifying random error components
of inertial sensors, this scientific work was NCS and associates published in a
national scientific journal article. The results have identified 5 random error
components for accelerometer and 5 random error components for angle sensor
of iPhone. Experimental results show that if the device is not calibrated and
the sensor noise, the direction is 100◦ drift after 30 seconds, after correcting the
system error, the direction deviates 2◦ after 5 minutes. The GNSS/INS inte-
gration before and after the integration is ±5.2m and ±2.0m, the improvement
is 62%, the GNSS/INS integration error before and after integration is ±7.0m
and ±0.8m improvement level is 89%.

The proposed method of standardizing the effect of rotational speed on

the axes of the gyros sensor for calibration technique does not require accurate
reference equipment to solve the problem of rotation speed. The ground is
confused with low-cost sensor noise and is equipped with intelligent sensors. The
inertial sensor calibration function module is programmed to perform real-time
visualization on the iPhone in real time, making it easy to calibrate the field
and test it before the test. GPS and field data collection software is developed
on iOS platform for application to geomatics.
 23

2. Recommendations for future works

Built-in GNSS/INS system can improve the navigation positioning accu-

racy, the inertial sensors of the smartphone that can be used to compensate
the tilt or orientation of navigation systems in cars, aircraft or boats. There
has been a great deal of research related to GNSS/INS system integration over
the years and is improving. However, one of the major challenges in integrating
GNSS/INS into smart devices is processing speed, as integration algorithms
tend to have large computational power, but must be implemented continu-
ously for 0.01 seconds in a short period of time.) To build an integrated system
on smart devices, it is necessary to study the scientific basis, propose new
algorithms suitable for mobile platforms, and develop integrated systems to
implement effective applications. Therefore, the following should be studied:

1. Optimize GNSS/INS integration algorithms on smart devices.

2. Research and development of GNSS/INS integrated systems on smart de-

vice depth sensing sensors for creating hydrological maps.
 24

Some published works of the author

Published paper on SCIE
1. Bui Tien Dieu, Tran Trung Chuyen, Biswajeet Pradhan, Inge Revhaug
and Razak Seidu (2015), “iGeoTrans - a novel iOS application for GPS
positioning in geosciences”, Geocarto International, 30(2):1-21, pp. 1-16,
doi: 10.1080/10106049.2014.902114
Published papers on scientific journal in the country
1. Tran Trung Chuyen, Nguyen Thi Mai Dung, Le Hong Anh, Nguyen Truong
Xuan, Dao Ngoc Long (2016), “Analysis and Modeling of Inertial Sensor of
the iPhone Using Allan Variance”, Journal of Mining and Earth Sciences,
No. 55
2. Duong Thanh Trung, Truong Minh Hung, Tran Trung Chuyen, Do Van
Duong (2017), “Improving the Accuracy of the INS/GNSS Integrated Nav-
igation System with Non-Holonomic Constraint”, Journal of Mining and
Earth Sciences, No. 58
Published paper on international conference
1. Tran Trung Chuyen, Nguyen Thi Mai Dung, Le Hong Anh, Nguyen Truong
Xuan, Dao Ngoc Long (2016), “Development of A Mobile Data Collection
And Management System”, International Conference on GIS-IDEAS
2. Tran Trung Chuyen, Nguyen Truong Xuan, Nguyen Thi Mai Dung, Tran
Mai Huong, Bui Tien Dieu, Dau Thanh Binh, Doan Thi Thu (2017), “De-
velopment of a new iOS-based geospatial application in smartphone for as-
sisting fieldwork in geoscience”, International Conference on GTER
Applications for the Smartphone in geomatics
1. Tran Trung Chuyen (2017), “iGeoTrans - GPS handheld and VN-2000 ”,
App Store, Apple Inc., (https://itunes.apple.com/app/id471312204).
2. Tran Trung Chuyen (2017), “GTField GPS & Data collection”, App Store,
Apple Inc., (https://itunes.apple.com/app/id1248227167).

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