Abstract
In order to improve the performance of an inertial navigation system, many aiding sensors can be used. Among these aiding sensors, a vision sensor is of particular note due to its benefits in terms of weight, cost, and power consumption. This paper proposes an inertial and vision integrated navigation method for poor vision navigation environments. The proposed method uses focal plane measurements of landmarks in order to provide position, velocity and attitude outputs even when the number of landmarks on the focal plane is not enough for navigation. In order to verify the proposed method, computer simulations and van tests are carried out. The results show that the proposed method gives accurate and reliable position, velocity and attitude outputs when the number of landmarks is insufficient.
Highlights
The inertial navigation system (INS) is a self-contained dead-reckoning navigation system that provides continuous navigation outputs with high-bandwidth and short-term stability
This paper proposes an inertial and vision integrated navigation method for poor vision system due to the limited number of landmarks
The proposed method uses focal plane measurements environments, in which position and attitude outputs cannot be obtained from a vision navigation of landmarks in the camera and INS outputs
Summary
The inertial navigation system (INS) is a self-contained dead-reckoning navigation system that provides continuous navigation outputs with high-bandwidth and short-term stability. When the visual odometry is used for the and attitude, velocity or heading information fromthe the error visionofnavigation system This integrated navigation integrated navigation system as in [13], the navigation output from the vision method may not give aincreases reliable with navigation output whennavigation the number of landmarks camera navigation system time. The proposed method uses focal plane measurements environments, in which position and attitude outputs cannot be obtained from a vision navigation of landmarks in the camera and INS outputs. The proposed method uses focal plane the vision navigation theinproposed method can give integrated navigation output measurements of system, landmarks the camera and INS outputs.
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