DocumentCode :
2985572
Title :
Integration of GPS and vision measurements for navigation in GPS challenged environments
Author :
Soloviev, Andrey ; Venable, Donald
Author_Institution :
Univ. of Florida, Gainesville, FL, USA
fYear :
2010
fDate :
4-6 May 2010
Firstpage :
826
Lastpage :
833
Abstract :
This paper investigates into the feasibility of a combined use of Global Positioning System (GPS) and vision-based measurements for navigation in challenged GPS environments such as urban canyons and indoors. In these environments, a GPS-only navigation solution fix is generally not feasible. However, limited GPS measurements (for example, for two or three satellites) may still be available. These limited measurements can be exploited to enhance the efficacy of alternative navigation aids such as vision-aided inertial. This paper presents a method for the combination of limited GPS carrier phase measurements with features that are extracted from images of a monocular video camera. An integrated GPS/vision solution estimates position changes and orientation of the camera´s body-frame; and, initializes ranges to vision-based features. Simulation results and initial experimental results are presented to validate the proposed integration method and demonstrate its performance.
Keywords :
Cameras; Clocks; Feature extraction; Force measurement; Global Positioning System; Image resolution; Phase estimation; Phase measurement; Position measurement; Satellite navigation systems;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Position Location and Navigation Symposium (PLANS), 2010 IEEE/ION
Conference_Location :
Indian Wells, CA, USA
ISSN :
2153-358X
Print_ISBN :
978-1-4244-5036-7
Electronic_ISBN :
2153-358X
Type :
conf
DOI :
10.1109/PLANS.2010.5507322
Filename :
5507322
Link To Document :
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