Journal
OPTIK
Volume 172, Issue -, Pages 484-493Publisher
ELSEVIER GMBH, URBAN & FISCHER VERLAG
DOI: 10.1016/j.ijleo.2018.07.050
Keywords
Unmanned Aerial Vehicle (UAV); Vision; Landmarks; INS/Vision Navigation System (INS/VNS); Observability; IMU/Vision Navigation System (IMU/VNS)
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This paper focuses mainly on the system design and performance analysis of the landmark-based INS/Vision Navigation System (INS/VNS). Firstly, the state and observation equations of the landmark-based INS/VNS are established. Secondly, the observability of the landmark-based INS/VNS with different number of landmarks is analyzed according to the rank of observability matrix. And Kalman Filter (KF) is designed for the landmark-based INS/VNS to estimate the errors of the navigation parameters for Unmanned Aerial Vehicle (UAV). Finally, the performance of the landmark-based INS/VNS is analyzed and compared with that of the landmark based IMU/Vision Navigation System (IMU/VNS) via simulations.
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