Design and performance analysis of landmark-based INS/Vision Navigation System for UAV

作者：Huang, Lan; Song, Jianmei^*; Zhang, Chunyan; Cai, Gaohua

来源：Optik, 2018, 172: 484-493.

DOI：10.1016/j.ijleo.2018.07.050

• Unmanned Aerial Vehicle (UAV)
• Vision
• Landmarks
• INS/Vision Navigation System (INS/VNS)
• Observability
• IMU/Vision Navigation System (IMU/VNS)

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.

• 出版日期2018
• 单位北京理工大学; 北京航天飞行控制中心