Simulation Platform for Vision Aided Inertial Navigation

Abstract

Integrated Inertial Navigation System (INS) and Global Positioning System (GPS) solutions have become the backbone of many modern positioning and navigation systems. The Achilles' heel of such systems are their susceptibility to GPS outages. Hence, there has been sustained interest in alternate navigation techniques to augment a GPS/INS system. With the advancement in camera technologies, visual odometry is a suitable technique. As the cost and effort required to conduct physical trials on a visual odometry system is extensive, this research seeks to provide a simulation platform that is capable of simulating different grades of GPS/INS systems under various realistic visual odometry scenarios. The simulation platform also allows standardized data to be tested across different navigation filters. The utility of this simulation platform is demonstrated by a trade study on factors affecting the performance of a GPS/INS system augmented with visual odometry.

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Document Details

Document Type
Technical Report
Publication Date
Sep 18, 2014
Accession Number
ADA608923

Entities

People

  • Jason Png

Organizations

  • Air Force Institute of Technology

Tags

Communities of Interest

  • Ground and Sea Platforms
  • Sensors
  • Space

DTIC Thesaurus Topics

  • Air Force
  • Aircrafts
  • Artificial Satellites
  • Cartography
  • Computer Vision
  • Data Sets
  • Geometry
  • Global Positioning Systems
  • Guidance
  • Inertial Measurement Units
  • Inertial Navigation
  • Inertial Navigation Systems
  • Navigation
  • Simulations
  • Simultaneous Localization And Mapping
  • United States
  • World Geodetic System

Readers

  • Computer Vision.
  • Maritime Combat Support and Expeditionary Logistics.
  • Positioning, Navigation, and Timing (PNT) Technology.

Technology Areas

  • Space