Vision/INS Integrated Navigation System for Poor Vision Navigation Environments

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 navigati...

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Bibliographic Details
Published in:Sensors (Basel, Switzerland) Switzerland), 2016-10, Vol.16 (10), p.1672-1672
Main Authors: Kim, Youngsun, Hwang, Dong-Hwan
Format: Article
Language:English
Subjects:
Attitudes
Cameras
Focal plane
focal plane measurements
Inertial navigation
inertial navigation system
integrated navigation
landmark
Landmarks
Navigation
Navigation systems
Position measurement
Power consumption
Sensors
Velocity
Vision
vision navigation system
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Summary: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.
ISSN:1424-8220
1424-8220
DOI:10.3390/s16101672