VO and GPS integrated navigation algorithm based on plane constraint

Abstract

In view of the deficiencies of GPS in the urban environment, such as signal occlusion, multipath and Non-LOS, this paper proposes a solution that using a low-cost monocular camera instead of inertial navigation system to combine with GPS. Firstly, considering that the actual road conditions of the vehicle are mostly plane and in order to reduce the computational resources of visual odometer (VO), this paper establishes a VO solving model based on plane constraint; then the VO&GPS loose coupling model is proposed. The position error and yaw angle error of the two sensors are taken as input, and the errors are filtered by the adaptive Kalman filter. Experiments show that the positioning effect of VO&GPS loose coupling system is better than that of single GPS, and it can suppress the drift of VO, which can meet the positioning requirements when satellite signals are interfered in a short time.

Keywords

• monocular vo
• gps
• integrated navigation
• adaptive kalman filtering