INS/Vision integrated navigation system considering error characteristics of landmark-based vision navigation

被引：0
作者：
机构：
[1] Kim, Youngsun
[2] Hwang, Dong-Hwan
来源：
Hwang, D.-H. (dhhwang@cnu.ac.kr) | 1600年 / Institute of Control, Robotics and Systems卷 / 19期
关键词：
Dilution of precision; INS(Inertial navigation system); Integrated navigation system; Landmark based vision navigation;
D O I：
10.5302/J.ICROS.2013.19.2.095
中图分类号：
学科分类号：
摘要：
The paper investigates the geometric effect of landmarks to the navigation error in the landmark based 3D vision navigation and introduces the INS/Vision integrated navigation system considering its effect. The integrated system uses the vision navigation results taking into account the dilution of precision for landmark geometry. Also, the integrated system helps the vision navigation to consider it. An indirect filter with feedback structure is designed, in which the position and the attitude errors are measurements of the filter. Performance of the integrated system is evaluated through the computer simulations. Simulation results show that the proposed algorithm works well and that better performance can be expected when the error characteristics of vision navigation are considered. © ICROS 2013.
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页码：95 / 101
页数：6
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