A Monocular Vision-aided Inertial Navigation System with Improved Numerical StabilityReportar como inadecuado


A Monocular Vision-aided Inertial Navigation System with Improved Numerical Stability


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This paper develops a monocular vision-aided inertial navigation system based on the factored extended Kalman filter EKF proposed by Bierman and Thornton. The simultaneous localization and mapping SLAM algorithm measurement update and propagation steps are formulated in terms of the factored covariance matrix P = UDUT, and a novel method for efficiently adding and removing features from the covariance factors ispresented. The system is compared to the standard EKF formulation in navigation performance and computational requirements. The proposed method is shown to improvenumerical stability with minimal impact on computational requirements. Flight test results are presented which demonstrate navigation performance with a controller in theloop.



Unmanned Aerial Vehicle UAV - Unmanned Aerial Vehicle UAV Publications -



Autor: Magree, Daniel - Johnson, Eric N. - -

Fuente: https://smartech.gatech.edu/







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