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  • Open Daily: 10am - 10pm
    Alley-side Pickup: 10am - 7pm

    3038 Hennepin Ave Minneapolis, MN
    612-822-4611

Open Daily: 10am - 10pm | Alley-side Pickup: 10am - 7pm
3038 Hennepin Ave Minneapolis, MN
612-822-4611
Tightly Integrating Optical and Inertial Sensors for Navigation Using the UKF

Tightly Integrating Optical and Inertial Sensors for Navigation Using the UKF

Ebcin, Sedat

Paperback

General Education

ISBN10: 128832717X
ISBN13: 9781288327171
Publisher: Biblioscholar
Published: Nov 21 2012
Pages: 78
Weight: 0.34
Height: 0.16 Width: 7.44 Depth: 9.69
Language: English
The motivation of this research is to address the benefits of tightly integrating optical and inertial sensors where GNSS signals are not available. The research begins with describing the navigation problem. Then, error and measurement models are presented. Given a set of features, a feature detection and projection algorithm is developed which utilizes inertial measurements to predict vectors in the feature space between images. The unscented Kalman filter is applied to the navigation system using the inertial measurements and feature matches to estimate the navigation trajectory. Finally, the image-aided navigation algorithm is tested using a simulation and an experiment. As a result, the optical measurements combined with the inertial sensors result in improved performance for non-GNSS based navigation.

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