Inertial Navigation aided by Simultaneous Localization and Mapping

Inertial and vision sensors are must nowadays in terms of navigation and guidance measurements for autonomous aerial and ground vehicles. To make up for the Inertial Navigation divergence the concept of aiding Inertial Navigation by Simultaneous Localization and Mapping is introduced. In this paper we describe the needing changes to the Simultaneous Localization and Mapping augmented state vector and show that repeated measurements of a map point with certain maneuvers around or by the map point are crucial for constraining the Inertial Navigation position divergence and reducing the covariance of the map points. This integration makes a passive jamproof GPS free autonomous navigation system.