Analysis of vision aided inertial navigation systems

Date

2006-04-19

Author

Yuksel, Yigiter
Kaygisiz, H. Burak

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This work is licensed under a Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

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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.

Subject Keywords

Inertial navigation system, Electrooptic imaging device, Kalman filter structure, Line of sight measurement , Camera, UAV scenario , Vision analysis

URI

https://hdl.handle.net/11511/64399

DOI

https://doi.org/10.1109/siu.2006.1659722

Conference Name

IEEE 14th Signal Processing and Communications Applications

Collections

Department of Electrical and Electronics Engineering, Conference / Seminar

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Citation Formats

Y. Yuksel and H. B. Kaygisiz, “Analysis of vision aided inertial navigation systems,” Antalya, TURKEY, 2006, p. 381, Accessed: 00, 2020. [Online]. Available: https://hdl.handle.net/11511/64399.