Long-Distance GNSS-Denied Visual Inertial Navigation for Autonomous Fixed-Wing Unmanned Air Vehicles: SO(3) Manifold Filter Based on Virtual Vision Sensor

Long-Distance GNSS-Denied Visual Inertial Navigation for Autonomous Fixed-Wing Unmanned Air Vehicles: SO(3) Manifold Filter Based on Virtual Vision Sensor

This article proposes a visual inertial navigation algorithm intended to diminish the horizontal position drift experienced by autonomous fixed-wing UAVs (unmanned air vehicles) in the absence of GNSS (Global Navigation Satellite System) signals. In addition to accelerometers, gyroscopes, and magnet...

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Bibliographic Details
Main Authors: Eduardo Gallo, Antonio Barrientos
Format: Article
Language:English
Published: MDPI AG 2023-08-01
Series:Aerospace
Subjects:
GNSS-denied
visual inertial navigation
autonomous navigation
EKF
autonomy
VIO
Online Access:https://www.mdpi.com/2226-4310/10/8/708

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