Design and performance analysis of landmark-based INS/Vision Navigation System for UAV

被引：12

作者：

Huang, Lan ^{[1
]}

Song, Jianmei ^{[1
]}

Zhang, Chunyan ^{[1
]}

Cai, Gaohua ^{[2
]}

机构：

[1] Beijing Inst Technol, Key Lab Dynam & Control Flight Vehicle, Minist Educ, Sch Aerosp Engn, Beijing 100081, Peoples R China

[2] Beijing Aerosp Automat Control Inst, Syst Scheme R&D Dept, 50 Yongding St, Beijing 100854, Peoples R China

来源：

OPTIK | 2018年 / 172卷

关键词：

Unmanned Aerial Vehicle (UAV); Vision; Landmarks; INS/Vision Navigation System (INS/VNS); Observability; IMU/Vision Navigation System (IMU/VNS); OBSERVABILITY ANALYSIS; AUTONOMOUS FLIGHT; MONOCULAR VISION; ENVIRONMENTS; LOCALIZATION;

D O I：

10.1016/j.ijleo.2018.07.050

中图分类号：

O43 [光学];

学科分类号：

070207 ; 0803 ;

摘要：

This paper focuses mainly on the system design and performance analysis of the landmark-based INS/Vision Navigation System (INS/VNS). Firstly, the state and observation equations of the landmark-based INS/VNS are established. Secondly, the observability of the landmark-based INS/VNS with different number of landmarks is analyzed according to the rank of observability matrix. And Kalman Filter (KF) is designed for the landmark-based INS/VNS to estimate the errors of the navigation parameters for Unmanned Aerial Vehicle (UAV). Finally, the performance of the landmark-based INS/VNS is analyzed and compared with that of the landmark based IMU/Vision Navigation System (IMU/VNS) via simulations.

引用

页码：484 / 493

页数：10

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