Next Article in Journal
Application of CCG Sensors to a High-Temperature Structure Subjected to Thermo-Mechanical Load
Next Article in Special Issue
Pixel-Level and Robust Vibration Source Sensing in High-Frame-Rate Video Analysis
Previous Article in Journal
Visual and Plasmon Resonance Absorption Sensor for Adenosine Triphosphate Based on the High Affinity between Phosphate and Zr(IV)
Previous Article in Special Issue
I-AUV Docking and Panel Intervention at Sea
Article Menu

Export Article

Open AccessArticle
Sensors 2016, 16(10), 1672; doi:10.3390/s16101672

Vision/INS Integrated Navigation System for Poor Vision Navigation Environments

1
Payload Electronics Team, Korea Aerospace Research Institute, Daejon 34133, Korea
2
Department of Electronics Engineering, Chungnam National University, Daejon 34134, Korea
*
Author to whom correspondence should be addressed.
Academic Editors: Gabriel Oliver-Codina, Nuno Gracias and Antonio M. López
Received: 8 August 2016 / Revised: 5 October 2016 / Accepted: 7 October 2016 / Published: 12 October 2016
(This article belongs to the Special Issue Vision-Based Sensors in Field Robotics)
View Full-Text   |   Download PDF [5384 KB, uploaded 12 October 2016]   |  

Abstract

In order to improve the performance of an inertial navigation system, many aiding sensors can be used. Among these aiding sensors, a vision sensor is of particular note due to its benefits in terms of weight, cost, and power consumption. This paper proposes an inertial and vision integrated navigation method for poor vision navigation environments. The proposed method uses focal plane measurements of landmarks in order to provide position, velocity and attitude outputs even when the number of landmarks on the focal plane is not enough for navigation. In order to verify the proposed method, computer simulations and van tests are carried out. The results show that the proposed method gives accurate and reliable position, velocity and attitude outputs when the number of landmarks is insufficient. View Full-Text
Keywords: vision navigation system; inertial navigation system; integrated navigation; focal plane measurements; landmark vision navigation system; inertial navigation system; integrated navigation; focal plane measurements; landmark
Figures

Figure 1

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).

Scifeed alert for new publications

Never miss any articles matching your research from any publisher
  • Get alerts for new papers matching your research
  • Find out the new papers from selected authors
  • Updated daily for 49'000+ journals and 6000+ publishers
  • Define your Scifeed now

SciFeed Share & Cite This Article

MDPI and ACS Style

Kim, Y.; Hwang, D.-H. Vision/INS Integrated Navigation System for Poor Vision Navigation Environments. Sensors 2016, 16, 1672.

Show more citation formats Show less citations formats

Note that from the first issue of 2016, MDPI journals use article numbers instead of page numbers. See further details here.

Related Articles

Article Metrics

Article Access Statistics

1

Comments

[Return to top]
Sensors EISSN 1424-8220 Published by MDPI AG, Basel, Switzerland RSS E-Mail Table of Contents Alert
Back to Top