INS/Vision Sensor Integrated System for Precise Relative Position Estimation using Landmark

Despite precise relative positioning performance of a GPS based navigation system, it may require the reference station in close boundaries and can be affected by satellite observation environments. Thus, this paper presents an INS and vision sensor integrated system, which uses a combination of feature points and the landmark whose position is already known in order to overcome the limitation of GPS-only system. The proposed system has the advantage of implementing three-dimensional navigation using the geometry of landmark images. The simulation verifies the performance of integrated navigation system, by which the performance enhancement in estimating relative position of the vehicle is proved effectively.