영상기반 항법시스템 개발

Abstract

In general, GPS/INS integrated navigation systems is used to estimate exact position and velocity. But, For preparation situation that GPS get jammings and interruptions, In this paper use vision sensor. This paper proposes a new two methods for INS/Vision navigation system to improve performance. First, Unless secure a clear front view and illumination, availability of vision sensor lower for navigation system. For solve this problem, vision sensors is installed at 0, 120 and -120 degree to overcome situation without forward view and illumination. With this, observability is higher than existing system depended on only front view. Second, Unless measure more than three landmarks, error of landmark based vision navigation system increase gradually. Second, Unless measure more than three landmarks, error of landmark based vision navigation system increase gradually. For solve this problem, in such a measured landmark less than three, augment measurement covariance for reduce weighting of vision sensor. Finally, the performance of the suggested approaches are verified by numerical simulations.