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Sensors 2010, 10(6), 5378-5394; doi:10.3390/s100605378
Article

Integration of a Multi-Camera Vision System and Strapdown Inertial Navigation System (SDINS) with a Modified Kalman Filter

 and *
Received: 1 April 2010; in revised form: 20 April 2010 / Accepted: 10 May 2010 / Published: 28 May 2010
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Abstract: This paper describes the development of a modified Kalman filter to integrate a multi-camera vision system and strapdown inertial navigation system (SDINS) for tracking a hand-held moving device for slow or nearly static applications over extended periods of time. In this algorithm, the magnitude of the changes in position and velocity are estimated and then added to the previous estimation of the position and velocity, respectively. The experimental results of the hybrid vision/SDINS design show that the position error of the tool tip in all directions is about one millimeter RMS. The proposed Kalman filter removes the effect of the gravitational force in the state-space model. As a result, the resulting error is eliminated and the resulting position is smoother and ripple-free.
Keywords: integration of vision system and SDINS; Extended Kalman Filter; Indirect Kalman Filter; strapdown inertial navigation system; tool positioning integration of vision system and SDINS; Extended Kalman Filter; Indirect Kalman Filter; strapdown inertial navigation system; tool positioning
This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

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MDPI and ACS Style

Parnian, N.; Golnaraghi, F. Integration of a Multi-Camera Vision System and Strapdown Inertial Navigation System (SDINS) with a Modified Kalman Filter. Sensors 2010, 10, 5378-5394.

AMA Style

Parnian N, Golnaraghi F. Integration of a Multi-Camera Vision System and Strapdown Inertial Navigation System (SDINS) with a Modified Kalman Filter. Sensors. 2010; 10(6):5378-5394.

Chicago/Turabian Style

Parnian, Neda; Golnaraghi, Farid. 2010. "Integration of a Multi-Camera Vision System and Strapdown Inertial Navigation System (SDINS) with a Modified Kalman Filter." Sensors 10, no. 6: 5378-5394.



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