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.
