Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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INS/Vision Integrated Navigation System Considering Error Characteristics of Landmark-Based Vision Navigation

랜드마크 기반 비전항법의 오차특성을 고려한 INS/비전 통합 항법시스템

  • Received : 2012.12.03
  • Accepted : 2012.12.31
  • Published : 2013.02.01
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Abstract

The paper investigates the geometric effect of landmarks to the navigation error in the landmark based 3D vision navigation and introduces the INS/Vision integrated navigation system considering its effect. The integrated system uses the vision navigation results taking into account the dilution of precision for landmark geometry. Also, the integrated system helps the vision navigation to consider it. An indirect filter with feedback structure is designed, in which the position and the attitude errors are measurements of the filter. Performance of the integrated system is evaluated through the computer simulations. Simulation results show that the proposed algorithm works well and that better performance can be expected when the error characteristics of vision navigation are considered.

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