Inertial Navigation Electro-Optical Aiding During GPS Dropouts
نویسندگان
چکیده
Inertial navigation with low-cost IMU’s can be an acceptable sole navigation source during short periods of GPS signal dropout due to intentional or unintentional interference. However, as the dropout period continues, the inertial navigation error reach unacceptable levels. In this paper, a technique is presented where relative or absolute position estimates derived from onboard captured image data are used to update the inertial navigation solution during GPS dropouts. This optical aiding technique is described and test results shown from aircraft and ground-based navigation trials. INTRODUCTION Several military and commercial platforms are currently installing navigation sensors concurrently with the introduction of high quality visual capabilities and digital mapping/imagery databases. The Navigation/ElectroOptic Sensor Integration Technology (NEOSIT) software application, developed for CECOM, is designed to optimally integrate navigation data, sensor imagery and image or terrain database to estimate and correct for errors in each data source. The modular design is to allow the NEOSIT application to be used with sensors and navigation already installed on different host platforms and with digital mapping and imagery data sources with varying degrees of precision. The NEOSIT software application is designed to operate in three modes. The first mode uses the precision GPS/inertial imagery metadata to extract target coordinates from the imagery. The second mode is used to correct for offsets in the image or terrain database registration coordinates. The third mode of operation is to provide a back-up navigation capability in the event of GPS drop-outs by applying reference points from the imagery to update the on-board navigation solution. NEOSIT SOFTWARE APPLICATION NEOSIT APPLICATION GPS/INERTIAL
منابع مشابه
Performance Test Results of an Integrated GPS/MEMS Inertial Navigation Package
This paper describes the design, operation and performance test results of a miniature, low cost integrated GPS/inertial navigation system (INS) designed for use in UAV or UGV guidance systems. The system integrates a miniaturized commercial GPS with a low grade Micro-Electro-Mechanical (MEMS) inertial measurement unit (IMU). The MEMS IMU is a small self-contained package (< 1 cu inch) and incl...
متن کاملTest Results of a Gps/inertial Navigation System Using a Low Cost Mems Imu
This paper describes the design, operation, and test results of a miniature, low cost integrated GPS/inertial navigation system that uses commercial off-the-shelf Micro-Electro-Mechanical System (MEMS) accelerometers and gyroscopes. The MEMS inertial measurement unit (IMU) is packaged in a small size and provides the raw IMU data through a serial interface to a processor board where the inertia...
متن کاملQuantitative Analysis to the Impacts of IMU Quality in GPS/INS Deep Integration
In the Global Positioning System (GPS)/Inertial Navigation System (INS) deep integration system, the pure negative effect of the INS aiding is mainly the INS navigation error that is independent with the motion dynamics, which determine whether the INS aiding is worthy. This paper quantitatively assesses the negative effects of the inertial aiding information from different grades of INS by mod...
متن کاملNavigation in GPS Denied
This paper focuses on the latest technology trends for navigating in difficult urban, indoor, and underground environments where typical Global Positioning System (GPS) receivers do not function. The latest alternative navigation (Alt-Nav) technologies based on electro-optical techniques are described. These techniques extract features from electro-optical images (for example, a point feature a...
متن کاملVision Aided Inertial Navigation
Today GPS aided inertial navigation is widely used and well studied in any aspects. The good short term properties of inertial data are complemented by the long term stability of the GPS signal. A common approach is to use a Kalman filter for fusing GPS and inertial data to constrain the inertial sensor drift. Although this is working well in many applications there is a need to find a similar ...
متن کامل