Tightly Integrating Optical and Inertial Sensors for Navigation Using the UKF
Sedat Ebcin
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Tightly Integrating Optical and Inertial Sensors for Navigation Using the UKF

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The motivation of this research is to address the benefits of tightly integrating optical and inertial sensors where GNSS signals are not available. The research begins with describing the navigation problem. Then, error and measurement models are presented. Given a set of features, a feature detection and projection algorithm is developed which utilizes inertial measurements to predict vectors in the feature space between images. The unscented Kalman filter is applied to the navigation system using the inertial measurements and feature matches to estimate the navigation trajectory. Finally, t...