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http://dx.doi.org/10.5370/KIEE.2014.63.1.123

INS/vision Integrated Navigation System in Environments with Insufficient Number of Landmarks  

Kim, Youngsun (Dept. of Electronics Engineering, Chungnam National University)
Hwang, Dong-Hwan (Dept. of Electronics Engineering, Chungnam National University)
Publication Information
The Transactions of The Korean Institute of Electrical Engineers / v.63, no.1, 2014 , pp. 123-131 More about this Journal
Abstract
An INS/vision integrated navigation algorithm is proposed for environments with insufficient number of landmarks. In the proposed algorithm, the raw measurements on the focal plane are directly used in order to cope with the situation where the number of landmarks are not sufficient. In addition to this, the combination of landmarks, which has smallest value of DOP, is used in the update of measurement in order to improve navigation performance. In order to evaluate the performance of the proposed integrated navigation system, Monte-Carlo simulation and van test was performed. The results of the simulation and experiment show that the proposed navigation system gives better navigation performance than an INS/vision integrated navigation system which does not use the raw measurements on the focal plane and the navigation system provides navigation solutions even in environments with insufficient number of landmarks.
Keywords
INS/vision integrated system; Landmarks; focal plane; Environment; DOP;
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Times Cited By KSCI : 3  (Citation Analysis)
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