Challenging Mapping Environments For GNSS/INS-RTK Systems and Necessity of SLAM Technology

Abstract

This paper explains different reasons and factors to affect the map quality of GNSS/INS-RTK (GIR) systems. In addition, various mapping examples of challenging environments by GIR are provided. These critical environments can be considered as baselines to evaluate the mapping modules and analyze the relevant robustness. Furthermore, this paper highlights the importance of strategizing the utilization of environmental features and integrating SLAM technology into mapping modules to increase accuracy against GIR maps.