High-Precision Image Aided Inertial Navigation with Known Features: Observability Analysis and Performance Evaluation

Sensors

Weiping Jiang¹  Li Wang¹  Xiaoji Niu¹  Quan Zhang¹  Hui Zhang¹  Min Tang² 

[1] GNSS Research Center, Wuhan University, Wuhan 430079, China; E-Mails:;School of Remote Sensing and Information Engineering, Wuhan University, Wuhan 430079, China; E-Mails:

关键词: image-aided inertial navigation;    tightly coupled;    observability analysis;    high precision;   

DOI  :  10.3390/s141019371

来源: mdpi

【 摘 要 】

A high-precision image-aided inertial navigation system (INS) is proposed as an alternative to the carrier-phase-based differential Global Navigation Satellite Systems (CDGNSSs) when satellite-based navigation systems are unavailable. In this paper, the image/INS integrated algorithm is modeled by a tightly-coupled iterative extended Kalman filter (IEKF). Tightly-coupled integration ensures that the integrated system is reliable, even if few known feature points (i.e., less than three) are observed in the images. A new global observability analysis of this tightly-coupled integration is presented to guarantee that the system is observable under the necessary conditions. The analysis conclusions were verified by simulations and field tests. The field tests also indicate that high-precision position (centimeter-level) and attitude (half-degree-level)-integrated solutions can be achieved in a global reference.

【 授权许可】

CC BY   
© 2014 by the authors; licensee MDPI, Basel, Switzerland.