A novel fusion scheme for vision aided inertial navigation of aerial vehicles
Summary: Vision-aided inertial navigation is an important and practical mode of integrated navigation for aerial vehicles. In this paper, a novel fusion scheme is proposed and developed by using the information from inertial navigation system (INS) and vision matching subsystem. This scheme is different from the conventional Kalman filter (CKF); CKF treats these two information sources equally even though vision-aided navigation is linked to uncertainty and inaccuracy. Eventually, by concentrating on reliability of vision matching, the fusion scheme of integrated navigation is upgraded. Not only matching positions are used, but also their reliable extents are considered. Moreover, a fusion algorithm is designed and proved to be the optimal as it minimizes the variance in terms of mean square error estimation. Simulations are carried out to validate the effectiveness of this novel navigation fusion scheme. Results show the new fusion scheme outperforms CKF and adaptive Kalman filter (AKF) in vision/INS estimation under given scenarios and specifications.
- Combined visual and intertial navigation for an unmanned aerial vehicle
- Inertially aided visual odometry for miniature air vehicles in GPS-denied environments
- Fusion of inertial navigation system with 10 axes and computer vision for UAV navigation
- Vision-based unmanned aerial vehicle navigation using geo-referenced information
- Vision-aided inertial navigation for precise planetary landing: analysis and experiments
- A new autocovariance least-squares method for estimating noise covariances
- Adaptive Kalman filtering for INS/GPS
- Centimeter-level positioning using an efficient new baseband mixing and despreading method for software GNSS receivers
- Nonlinear Kalman filtering techniques for terrain-aided navigation
- Stochastic models, estimation, and control. Vol. 2,3
- Fusion of inertial navigation system with 10 axes and computer vision for UAV navigation
- Combined visual and intertial navigation for an unmanned aerial vehicle
- Vision-aided inertial navigation for precise planetary landing: analysis and experiments
- Inertially aided visual odometry for miniature air vehicles in GPS-denied environments
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