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Sensors 2014, 14(10), 19371-19401; doi:10.3390/s141019371

High-Precision Image Aided Inertial Navigation with Known Features: Observability Analysis and Performance Evaluation

1
GNSS Research Center, Wuhan University, Wuhan 430079, China
2
School of Remote Sensing and Information Engineering, Wuhan University, Wuhan 430079, China
*
Author to whom correspondence should be addressed.
Received: 11 July 2014 / Revised: 19 September 2014 / Accepted: 9 October 2014 / Published: 17 October 2014
(This article belongs to the Special Issue Positioning and Tracking Sensors and Technologies in Road Transport)

Abstract

A high-precision image-aided inertial navigation system (INS) is proposed as an alternative to the carrier-phase-based differential Global Navigation Satellite Systems (CDGNSSs) when satellite-based navigation systems are unavailable. In this paper, the image/INS integrated algorithm is modeled by a tightly-coupled iterative extended Kalman filter (IEKF). Tightly-coupled integration ensures that the integrated system is reliable, even if few known feature points (i.e., less than three) are observed in the images. A new global observability analysis of this tightly-coupled integration is presented to guarantee that the system is observable under the necessary conditions. The analysis conclusions were verified by simulations and field tests. The field tests also indicate that high-precision position (centimeter-level) and attitude (half-degree-level)-integrated solutions can be achieved in a global reference. View Full-Text
Keywords: image-aided inertial navigation; tightly coupled; observability analysis; high precision image-aided inertial navigation; tightly coupled; observability analysis; high precision
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. (CC BY 4.0).

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MDPI and ACS Style

Jiang, W.; Wang, L.; Niu, X.; Zhang, Q.; Zhang, H.; Tang, M.; Hu, X. High-Precision Image Aided Inertial Navigation with Known Features: Observability Analysis and Performance Evaluation. Sensors 2014, 14, 19371-19401.

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