Analysis of vision aided inertial navigation systems

Yuksel Y., Kaygisiz H. B.

IEEE 14th Signal Processing and Communications Applications, Antalya, Türkiye, 16 - 19 Nisan 2006, ss.381-382 identifier identifier

  • Yayın Türü: Bildiri / Tam Metin Bildiri
  • Doi Numarası: 10.1109/siu.2006.1659722
  • Basıldığı Şehir: Antalya
  • Basıldığı Ülke: Türkiye
  • Sayfa Sayıları: ss.381-382
  • Orta Doğu Teknik Üniversitesi Adresli: Hayır

Özet

We propose in this paper a method to integrate inertial navigation systems with electro optic imaging devices. Our method is based on updating the inertial navigation system in a Kalman filter structure using line of sight measurements obtained from a camera. The proposed method is analyzed based on a UAV scenario generated by our trajectory simulator and the results are provided here. The results show that even a single vision aid can improve the performance of inertial navigation system.