Observability analysis of inertial navigation errors from optical flow subspace constraint
Fusion of inertial and vision sensors is an effective aid to inertial navigation systems (INS) during GPS outage. Optical flow-aided inertial navigation circumvents feature tracking, landmark mapping, and state vector augmentation typical of simultaneous localization and mapping (SLAM). This paper f...
| Autores: | , , |
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| Tipo de recurso: | artículo |
| Estado: | Versión publicada |
| Fecha de publicación: | 2016 |
| País: | Brasil |
| Institución: | Instituição de Ensino Superior e de Pesquisa (INSPER) |
| Repositorio: | Repositório Institucional da INSPER |
| Idioma: | inglés |
| OAI Identifier: | oai:repositorio.insper.edu.br:11224/6326 |
| Acceso en línea: | https://repositorio.insper.edu.br/handle/11224/6326 https://doi.org/10.1016/j.ins.2015.08.017 |
| Access Level: | acceso abierto |
| Palabra clave: | Inertial navigation GPS outage Optical flow Subspace constraint Sensor fusion Observability analysis |
| Sumario: | Fusion of inertial and vision sensors is an effective aid to inertial navigation systems (INS) during GPS outage. Optical flow-aided inertial navigation circumvents feature tracking, landmark mapping, and state vector augmentation typical of simultaneous localization and mapping (SLAM). This paper focuses on the observability analysis of INS errors from implicit measurements of the optical flow subspace constraint, and derives how observable and unobservable directions are affected by the motion of a camera rigidly coupled to an inertial measurement unit (IMU). Straight motion and piecewise constant (PWC) attitude segments yield the random constant IMU errors observable. The unobservable directions are the threedimensional (3D) position error, the velocity error along the ground velocity, and the combination of angular isalignment about the local vertical and the velocity error along the horizontal direction orthogonal to the ground velocity. The velocity error along the ground velocity becomes observable with horizontal maneuvering. A Monte Carlo simulation validates the observability analysis, and reveals the feasibility of IMU calibration and the mitigation of navigation error growth with the aid of the optical flow subspace constraint compared with the unaided INS. |
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