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http://dx.doi.org/10.5139/JKSAS.2017.45.8.671

INS/Multi-Vision Integrated Navigation System Based on Landmark  

Kim, Jong-Myeong (Dept. of Aerospace Engineering, Chosun University)
Leeghim, Henzeh (Dept. of Aerospace Engineering, Chosun University)
Publication Information
Journal of the Korean Society for Aeronautical & Space Sciences / v.45, no.8, 2017 , pp. 671-677 More about this Journal
Abstract
A new INS/Vision integrated navigation system by using multi-vision sensors is addressed in this paper. When the total number of landmark measured by the vision sensor is smaller than the allowable number, there is possibility that the navigation filter can diverge. To prevent this problem, multi-vision concept is applied to expend the field of view so that reliable number of landmarks are always guaranteed. In this work, the orientation of camera installed are 0, 120, and -120degree with respect to the body frame to improve the observability. Finally, the proposed technique is verified by using numerical simulation.
Keywords
Vision Sensor; Kalman Filter; Vision Navigation System; INS(Inertial Navigation System);
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