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Open AccessArticle

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
Sensors 2016, 16(10), 1672; https://doi.org/10.3390/s16101672
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)
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
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Kim, Y.; Hwang, D.-H. Vision/INS Integrated Navigation System for Poor Vision Navigation Environments. Sensors 2016, 16, 1672.

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