Performance comparison of tight and loose INS-camera integration

24th International Technical Meeting of the Satellite Division of the Institute of Navigation 2011, ION GNSS 2011

Volumn 5, Issue , 2011, Pages 3516-3526

  Chu, Chen Chi ^a   Lie, Fidelis Adhika Pradipta ^b   Lemay, Lee ^c   Gebre Egziabher, Demoz ^a  

^a University of Minnesota   (United States)

^b UNIVERSITY OF MINNESOTA   (United States)

^c US Navy SPAWAR Systems Center Pacific   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

ATTITUDE SOLUTION; EXTENDED KALMAN FILTERING; INTEGRATION APPROACH; LINEAR MEASUREMENT EQUATION; MEASUREMENT EQUATIONS; NAVIGATION SOLUTION; PERFORMANCE COMPARISON; PERFORMANCE OF ALGORITHM; RELATIVE GEOMETRY; SIMULATION STUDIES; STABILITY AND ROBUSTNESS; VISION BASED NAVIGATION;

CAMERAS; GLOBAL POSITIONING SYSTEM; INTEGRATION; MEASUREMENT ERRORS; PIXELS; POSITION MEASUREMENT;

INTEGRAL EQUATIONS;

EID: 84858972897     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (14)

1. P. D. Groves, "INS/GNSS Integration", Chapter 12 Principles of GNSS, Inertial, and Multisensor Integrated Navigation Systems, Artech House, Boston, London, 2008, pp. 363-406
2. D. Gebre-Egziabher, M. Petovello, and D. Bevly, "Integration of GNSS and INS", Chapter 6 (Part 1) and Chapter 7 (Part 2) in GNSS Applications and Methods, Ed: Gleason and Gebre-Egziabher. Artech House Publisher, Boston, MA. 2009. (Editors), pp 149-190
3. G.N. Desouza, A.C. Kak, "Vision for mobile robot navigation: a survey", IEEE Transactions on Pattern Analysis and Machine Intelligence, vol.24, no.2, pp.237-267, Feb 2002
4. R.M. Haralick, H. Job, C-N Lee, X. Zhuang, V.G. Vaidya, M.B. Kim, "Pose Estimation from Corresponding Point Data", IEEE Transactions on System, Man, and Cybernetics, vol.19, No.6, pp.1426-1446, Nov/Dec 1989
5. J.L. Crassidis, R. Alonso, J.L. Junkins, "Optimal Attitude and Position Determination from Line-of-Sight Measurements", Journal of Astronautical Sciences, vol.48, no.2-3, pp.391-408, 2000
6. D. Mortari, J.M. Rojas, J.L. Junkins, "Attitude and Position Estimation from Vector Observations", in Proceedings of AAS/AIAA Space Flight Mechanics Meeting, Feb 2004, Maui, Hawaii
7. V. Indelman, P. Gurfil, E. Rivilin, and H. Rotstein, "Real-Time Mosaic-Aided Aerial Navigation: I. Motion Estimation", in Proceedings of AIAA Guidance, Navigation, and Control Conference, 10-13 August 2009, Chicago, Illinois
8. N. Frietsch, O. Meister, C. Schlaile, J. Seibold, and G. F. Trommer, "Vision Based Hovering and Landing System for a VTOL-MAV with Geo-Localization Capabilities", in Proceedings of AIAA Guidance, Navigation and Control Conference and Exhibit, 18-21 August 2008, Honolulu, Hawaii
9. S. Saeedi, F. Samadzadegan, N. El-Sheimy, "Vision-Aided Inertial Navigation for Pose Estimation of Aerial Vehicles", in Proceedings of the 22nd International Technical Meeting of The Satellite Division of the Institute of Navigation (ION GNSS 2009), Savannah, GA, September 2009, pp. 453-459
10. N. Trawny, A. I. Mourikis, S. I. Roumeliotis, et al., "Coupled vision and inertial navigation for pin-point landing", Journal of Field Robotics -Special Issue on Space Robotics, 24(5), pp. 357-378, April 2007
11. L. Lemay, C-C. Chu, D. Gebre-Egziabher, R. Ramlall, "Precise Input and Output Error Characterization for Loosely Integrated INS/GPS/Camera Navigation System," in Proceedings of the 2011 International Technical Meeting of The Institute of Navigation, San Diego, CA, January 2011, pp. 880-894
12. nd Edition, Cambridge University Press, New York, 2004
13. L. Lemay, C-C. Chu, D. Gebre-Egziabher, J. Gorgen, "Loose Integration of INS, GNSS, and Vision-Based Navigation", Journal of Navigation, (submitted)
14. D. Simon, "Optimal State Estimation: Kalman, H-infinity, and Nonlinear Approaches," John Wiley & Sons Inc, 2006.