Analysis of vision aided inertial navigation systems

Date

2006-04-19

Author

Yuksel, Yigiter
Kaygisiz, H. Burak

Metadata

Show full item record

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

Item Usage Stats

80
views

0
downloads

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

Suggestions

OpenMETU
Core

Robot end-effector based sensor integration for tracking moving parts Konukseven, Erhan İlhan (2000-08-31) This paper presents a cost-efficient end-effector based infrared proximity sensor integration system and the implementation of fuzzy-logic control algorithm.
In-orbit estimation of time-varying residual magnetic moment for small satellite applications Söken, Halil Ersin (2013-09-16) A method for in-orbit estimation of time-varying residual magnetic moment is presented for small satellite applications. The Unscented Kalman Filter is used as the estimator. Unlike the existing studies in the literature, unexpected abrupt changes in the residual magnetic moment are also considered. Sudden shifts in the mean of the residual magnetic moment is detected by a low pass filter applied to the normalized innovation of the Unscented Kalman Filter. Then, by using a simple approach, which does not re...
Simulation of Directional Microphones in Digital Waveguide Mesh-Based Models of Room Acoustics Hacıhabiboğlu, Hüseyin; Günel Kılıç, Banu (2010-02-01) Digital waveguide mesh (DWM) models are time-domain numerical methods providing computationally simple solutions for wave propagation problems. They have been used in various acoustical modeling and audio synthesis applications including synthesis of musical instrument sounds and speech, and modeling of room acoustics. A successful model of room acoustics should be able to account for source and receiver directivity. Methods for the simulation of directional sources in DWM models were previously proposed. T...
Fabrication of a Three-Axis Capacitive MEMS Accelerometer on a Single Substrate Aydemir, Akin; Akın, Tayfun (2015-11-04) This paper presents a new fabrication approach and a design for the fabrication of a three-axis capacitive MEMS accelerometer where differential sensing is enabled for all sense directions. In this approach, individual lateral and vertical axis accelerometers are fabricated in the same die on an SOI wafer which is eutectically bonded to a glass substrate. Differential sensing for the vertical axis accelerometer is realized by defining the proof mass of the accelerometer on the structural layer of the SOI wa...
OPTICAL SYSTEM DESIGN, INTEGRATION AND TESTING OF A 2D SCANNING LIDAR Cerit, Kübra; Bek, Alpan; Department of Physics (2022-1-20) In this thesis, optical system design, integration and testing of a compact LIDAR system with 270 degree field-of-view that based on time of flight principle is developed by Rekrom Optoelectronics. This system can identify objects and measure distances up to 100 m away. LIDAR has become a much needed and used technology in various fields. The most important of these areas are robotic systems, autonomous vehicles and unmanned aerial, land and sea platforms navigation and environmental awareness. The main r...

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.