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.
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: