Inertial navigation position error estimation, using vision system

Abstract

The main task of the study is to estimate the position error in an inertial navigation system by integrating it with the visual system. The case study is a spacecraft that must accurately measure its position relative to a predetermined landing point. The spacecraft is assumed to be augmented GNSS navigation. Therefore, when satellite signals are dropped out or when landing on a moving marine platform, the data of the vision navigation system replaces the information of the satellite navigation system and improves the accuracy of the spacecraft navigation system. An Extended Kalman filter has been used to integrate inertial and vision navigation system information. In addition, the output data of the vision system, in order to be used in the Kalman filter measurement equations, is first processed by the recursive least square filter. The relevant relations are given and based on the results of software simulation, the efficiency of the proposed method is shown.

Keywords

• inertial navigation
• integrated navigation
• vision aided navigation
• machine vision