期刊
JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY
卷 24, 期 2, 页码 489-496出版社
KOREAN SOC MECHANICAL ENGINEERS
DOI: 10.1007/s12206-010-0104-2
关键词
GPS/INS/Vision navigation; SLAM; Kalman filter; Harris corner; SIFT
资金
- Chungnam National University
- National Research Foundation of Korea [과C6B1619] Funding Source: Korea Institute of Science & Technology Information (KISTI), National Science & Technology Information Service (NTIS)
This paper presents a framework for a GPS/INS/vision-based helicopter navigation system. The conventional GPS/INS algorithm has weak points such as GPS blockage and jamming, while the helicopter is a speedy and highly dynamic vehicle that may easily lose a GPS signal. A vision sensor is not affected by signal jamming, and the navigation error of such a system does not accumulate. Hence, a GPS/INS/vision-aided navigation scheme was implemented to provide the robust localization suitable for helicopter operations in various environments. The core algorithm is the vision-based SLAM (simultaneous localization and mapping) technique. Flight tests were performed to verify the SLAM-aided vision navigation algorithm. During the tests, it was confirmed that the developed system is sufficiently robust under GPS blockage conditions. The system design, software algorithm, and flight test results are described in this paper.
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