Analysis of vision aided inertial navigation systems
IEEE 14th Signal Processing and Communications Applications, Antalya, Turkey, 16 - 19 April 2006, pp.381-382, (Full Text)
- 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.