Analysis of vision aided inertial navigation systems

Yuksel Y., Kaygisiz H. B.

IEEE 14th Signal Processing and Communications Applications, Antalya, Turkey, 16 - 19 April 2006, pp.381-382 identifier identifier

  • Publication Type: Conference Paper / Full Text
  • Doi Number: 10.1109/siu.2006.1659722
  • City: Antalya
  • Country: Turkey
  • Page Numbers: pp.381-382
  • Middle East Technical University Affiliated: No

Abstract

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.