Visual/Inertial/GNSS (VIG) integrated navigation and positioning systems are widely used in unmanned vehicles other systems. This VIG system is vulnerable to of GNSS spoofing attacks. Relevant research on the harm that causes performance analyses under not sufficient. In this paper, an open-source algorithm, VINS-Fusion, based nonlinear optimization, analyze a attack. The influence visual inert...

In the course of this paper, a by IFEN GmbH developed integrated navigation device for aiding and rescuing fire fighters in emergency situations is presented. In areas with sufficient signal strength the respective rescue force is tracked by means of GNSS/INS position information, whereas indoor or in areas without GNSS support, the positioning is conducted by means of a foot mounted inertial m...

This paper reports a landmark-based localization method relying on visual attention. In a learning phase, the multicue, multi-scale saliency-based model of visual attention is used to automatically acquire robust visual landmarks that are integrated into a topological map of the navigation environment. During navigation, the same visual attention model detects the most salient visual features t...

As the core of the integrated navigation system, the data fusion algorithm should be designed seriously. In order to improve the accuracy of data fusion, this work proposed an adaptive iterated extended Kalman (AIEKF) which used the noise statistics estimator in the iterated extended Kalman (IEKF), and then AIEKF is used to deal with the nonlinear problem in the inertial navigation systems (INS...