Design of vision/INS integrated navigation system in poor vision navigation environments

This paper proposes a design method for an inertial and landmark-based vision integrated navigation system in poor vision navigation environments, which have fewer visible landmarks in an area. An indirect Kalman filter with feedback structure is used in the presented navigation system. The system is designed to use focal plane measurements of landmarks instead of a vision navigation solution for effective measurement usage in poor vision environments. The proposed design is confirmed through the computer simulations and its performance is evaluated comparing the integration system which uses a vision navigation solution.