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...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2016-10-01
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| Series: | Sensors |
| Subjects: | |
| Online Access: | http://www.mdpi.com/1424-8220/16/10/1672 |
| _version_ | 1828151153855037440 |
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| author | Youngsun Kim Dong-Hwan Hwang |
| author_facet | Youngsun Kim Dong-Hwan Hwang |
| author_sort | Youngsun Kim |
| collection | DOAJ |
| description | 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. |
| first_indexed | 2024-04-11T21:53:44Z |
| format | Article |
| id | doaj.art-1a44807eb8464eaaa5a221d2ddb3040e |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-04-11T21:53:44Z |
| publishDate | 2016-10-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-1a44807eb8464eaaa5a221d2ddb3040e2022-12-22T04:01:10ZengMDPI AGSensors1424-82202016-10-011610167210.3390/s16101672s16101672Vision/INS Integrated Navigation System for Poor Vision Navigation EnvironmentsYoungsun Kim0Dong-Hwan Hwang1Payload Electronics Team, Korea Aerospace Research Institute, Daejon 34133, KoreaDepartment of Electronics Engineering, Chungnam National University, Daejon 34134, KoreaIn 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.http://www.mdpi.com/1424-8220/16/10/1672vision navigation systeminertial navigation systemintegrated navigationfocal plane measurementslandmark |
| spellingShingle | Youngsun Kim Dong-Hwan Hwang Vision/INS Integrated Navigation System for Poor Vision Navigation Environments Sensors vision navigation system inertial navigation system integrated navigation focal plane measurements landmark |
| title | Vision/INS Integrated Navigation System for Poor Vision Navigation Environments |
| title_full | Vision/INS Integrated Navigation System for Poor Vision Navigation Environments |
| title_fullStr | Vision/INS Integrated Navigation System for Poor Vision Navigation Environments |
| title_full_unstemmed | Vision/INS Integrated Navigation System for Poor Vision Navigation Environments |
| title_short | Vision/INS Integrated Navigation System for Poor Vision Navigation Environments |
| title_sort | vision ins integrated navigation system for poor vision navigation environments |
| topic | vision navigation system inertial navigation system integrated navigation focal plane measurements landmark |
| url | http://www.mdpi.com/1424-8220/16/10/1672 |
| work_keys_str_mv | AT youngsunkim visioninsintegratednavigationsystemforpoorvisionnavigationenvironments AT donghwanhwang visioninsintegratednavigationsystemforpoorvisionnavigationenvironments |