A Monocular Vision-aided Inertial Navigation System with Improved Numerical Stability
نویسندگان
چکیده
This paper develops a monocular vision-aided inertial navigation system based on the factored extended Kalman filter (EKF) proposed by Bierman and Thornton. The simultaneous localization and mapping (SLAM) algorithm measurement update and propagation steps are formulated in terms of the factored covariance matrix P = UDU, and a novel method for efficiently adding and removing features from the covariance factors is presented. The system is compared to the standard EKF formulation in navigation performance and computational requirements. The proposed method is shown to improve numerical stability with minimal impact on computational requirements. Flight test results are presented which demonstrate navigation performance with a controller in the loop.
منابع مشابه
Autonomous Flight in GPS-Denied Environments Using Monocular Vision and Inertial Sensors
A vision-aided inertial navigation system that enables autonomous flight of an aerial vehicle in GPS-denied environments is presented. Particularly, feature point information from a monocular vision sensor are used to bound the drift resulting from integrating accelerations and angular rate measurements from an Inertial Measurement Unit (IMU) forward in time. An Extended Kalman filter framework...
متن کاملPractical Evaluation of EKF1 and UKF2 Filters for Terrain Aided Navigation
This article would study batch and recursive methods that used in terrain navigation systems. Terrain navigation has a lot ofdisadvantages and so researchers have been studied on different method of aided navigation for many years. Therefore, more types of aided navigation systems were introduced with advantages and disadvantages in terms of practical and theoretical. One of the main ideas for ...
متن کاملA Quasi Polar Local Occupancy Grid Approach for Vision-based Obstacle Avoidance
This paper proposes a quasi-polar local (turn rate-time) occupancy grid approach for obstacle avoidance. It uses GPS and inertial navigation combined with a vision system to map sensor data directly onto dynamically feasible paths, so that path planning consists simply of selecting the path with lowest likelihood of collision. A numerical method for motion updates that can cope with the differi...
متن کاملTowards Autonomous Fixed-Wing Unmanned Aerial Vehicle Landing: A Vision-Aided Inertial Navigation under Sensor Reconfiguration Scenario
While autonomous landing of unmanned aerial vehicles (UAVs) requires accurate position estimation, the standard inertial navigation unit (INU, the inertial measurement unit with a global positioning system (GPS)) provides relatively poor accuracy in altitude estimation. A common solution for this problem is to aid the INU with additional sensors and/or ground infrastructures, but the main hurdl...
متن کاملVision Aided Inertial Navigation
Today GPS aided inertial navigation is widely used and well studied in any aspects. The good short term properties of inertial data are complemented by the long term stability of the GPS signal. A common approach is to use a Kalman filter for fusing GPS and inertial data to constrain the inertial sensor drift. Although this is working well in many applications there is a need to find a similar ...
متن کامل