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Analysis of vision aided inertial navigation systems

Yuksel, Yigiter
Kaygisiz, H. Burak
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.