Mohammadvali Arbabmir; Masoud Ebrahimi Kachoei
Volume 12, Issue 3 , September 2019, , Pages 43-54
Abstract
In the last decades, the visual navigation system has been investigated by many researchers as an aided navigation system for Inertial Navigation System (INS) in the Unmanned Aerial Vehicles (UAV). In this research, for improving the INS errors a new approach based on feature tracking algorithm is used. ...
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In the last decades, the visual navigation system has been investigated by many researchers as an aided navigation system for Inertial Navigation System (INS) in the Unmanned Aerial Vehicles (UAV). In this research, for improving the INS errors a new approach based on feature tracking algorithm is used. In this approach, in order to estimate the feature points in the current image, the INS states, the feature points of the previous image and dynamic equations are used. Also, in this approach, for improving the estimation of terrain points, the outlier estimated feature points delete. Furthermore, in this article, for improving the altitude error, a barometer is used by the mentioned vision navigation system. The simulation results illustrate the desirable accuracy of the vision system and barometer observations in the update step of Extended Kalman Filter (EKF) and remarkable performance of integrated navigation system for calculating the UAV navigation parameters.
Masoud Ebrahimi Kachoie; Mohammadvali Arbabmir; Mohammad Norouz
Volume 10, Issue 2 , September 2017, , Pages 33-52
Abstract
Inertial navigation system error increases due to sensor errors with the increase intime. Usually, to prevent the growth of navigation system error, inertial navigationsystems are integrated with sensors or auxiliary systems. The importantly aided system isGNSS. Because of GNSS outage or its invalidity, ...
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Inertial navigation system error increases due to sensor errors with the increase intime. Usually, to prevent the growth of navigation system error, inertial navigationsystems are integrated with sensors or auxiliary systems. The importantly aided system isGNSS. Because of GNSS outage or its invalidity, the other auxiliary sensors are used toincrease the accuracy of the inertial navigation system. In this article, the types ofmethods which are used by imaging camera for navigation or for the accuracyimprovement of an inertial navigation system for UAVs are discussed. After reviewing theliterature in the field of vision navigation in UAVs, the proper classification for visionnavigation methods and the development of these methods are presented. In UAVs, thevision navigation techniques are based more on Map metric, optical flow, featuretracking, odometers and simultaneous localization and mapping.
