Title :
Integration of limited GNSS signals with monocular vision based navigation
Author :
Won, Dae Hee ; Yun, Sukchang ; Lee, Young Jae ; Sung, Sangkyung
Author_Institution :
Dept. of Aerosp. Inf. Eng., Konkuk Univ., Seoul, South Korea
Abstract :
This paper proposes the GNSS (Global Navigation Satellite System) integration system with a monocular vision based navigation to improve the navigation performance in the urban canyon environment. Pseudorange and pseudorange-rate is used with feature points of the vision sensor, and a tightly coupled integration is applied to the navigation filter. Simulation results show that the limited GNSS signals can improve the position accuracy with respect to the vision based navigation.
Keywords :
image sensors; satellite navigation; GNSS signals; Global Navigation Satellite System; feature points; monocular vision based navigation; navigation filter; navigation performance; position accuracy; pseudorange-rate; urban canyon environment; vision sensor; Educational institutions; Global Navigation Satellite Systems; Global Positioning System; Mathematical model; Satellites; GNSS; Integration; Navigation; Vision;
Conference_Titel :
Control, Automation and Systems (ICCAS), 2012 12th International Conference on
Conference_Location :
JeJu Island
Print_ISBN :
978-1-4673-2247-8
