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http://dx.doi.org/10.5139/JKSAS.2010.38.3.236

Observability Analysis of a Vision-INS Integrated Navigation System Using Landmark  

Won, Dae-Hee (건국대학교 항공우주정보시스템공학과 대학원)
Chun, Se-Bum ((주) 마이크로인피니티)
Sung, Sang-Kyung (건국대학교 항공우주정보시스템공학과 대학원)
Cho, Jin-Soo (한양대학교 기계공학부)
Lee, Young-Jae (건국대학교 항공우주정보시스템공학과)
Publication Information
Journal of the Korean Society for Aeronautical & Space Sciences / v.38, no.3, 2010 , pp. 236-242 More about this Journal
Abstract
A GNSS/INS integration system can not provide navigation solutions if there are no available satellites. To overcome this problem, a vision sensor is integrated with this system. Since generally a vision aided integration system uses only feature point to compute navigation solutions, it has a problem in observability. In this case, additional landmarks, which is priory known points, can improve the observability. In this paper, the observability is evaluated using TOM/SOM matrix and Eigenvalues. There are always the observability problems in the feature-point-only case, but the landmark-use case is fully observable after the $2^{nd}$ update time. Consequently the landmarks ensure full observability, so the system performance can be improved.
Keywords
Vision; SLAM; Navigation; Observability; Landmark;
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