INS/Vision Integrated Navigation System Considering Error Characteristics of Landmark-Based Vision Navigation
7
Citation
5
Reference
10
Related Paper
Citation Trend
Abstract:
The paper investigates the geometric effect of landmarks to the navigation error in the landmark based 3D vision navigation and introduces the INS/Vision integrated navigation system considering its effect. The integrated system uses the vision navigation results taking into account the dilution of precision for landmark geometry. Also, the integrated system helps the vision navigation to consider it. An indirect filter with feedback structure is designed, in which the position and the attitude errors are measurements of the filter. Performance of the integrated system is evaluated through the computer simulations. Simulation results show that the proposed algorithm works well and that better performance can be expected when the error characteristics of vision navigation are considered.Keywords:
Landmark
Dilution of precision
Navigation System
Position (finance)
Mobile Robot Navigation
Machine Vision
Aimed at the deficiency of the navigation system of the intelligent patrol robot,the laser positioning technology was applied to the navigation of the robot,a prototype navigation system was designed,and an experimental test was made in the outdoor environment.Experiment test results show that the robot running was steady and the quality of navigation was precise.In addition,the theory of laser positioning and navigation control involved in the laser navigation system was discussed in this paper,the hardware structure and software flow chart of the navigation system were also given out.
Navigation System
Mobile Robot Navigation
Cite
Citations (6)
Current in vehicle navigation systems place an emphasis on the use of distances within their turn-by-turn directions. Previous work has shown the potential for landmarks, particularly in relation to subjective aspects of system usability e.g. confidence in navigation. To test the objective benefits of landmarks versus distances, road based trials were conducted in which 28 participants drove unfamiliar routes within an urban area using a simulated navigation system that emphasizes either landmarks or distances for the purposes of locating maneuvers. When using the landmark system, relatively few glances were made towards the navigation display and workload was perceived to be lower, in comparison with the figures attained for the distance system. Furthermore, the duration of glances towards the landmark display was low. Nevertheless, the participants made some navigational errors when using landmarks. The results are discussed in relation to the design of future landmark-oriented navigation systems.
Landmark
Turn-by-turn navigation
Navigation System
Interface (matter)
Cite
Citations (10)
In mobile robot scenarios, it is expected that the robot autonomously navigates through home or office environments and processes objects/landmarks during navigation. Landmark manipulation is identified as one important research area in robot navigation systems. We have developed an online robot landmark processing system (RLPS) to detect, classify, and localize different types of landmarks during robot navigation. The RLPS is based on a two-step classification stage which is robust and invariant towards scaling and translations. It provides a good balance between fast processing time and high detection accuracy by combining the strengths of appearance-based and model-based object classification techniques. The experimental results showed that the RLPS is more powerful as it recognizes a wide range of landmarks and efficiently handles landmarks with occlusions, viewpoint variances, and illumination changes.
Landmark
Mobile Robot Navigation
Navigation System
Cite
Citations (1)
Based on the situation that the traditional SINS (strapdown inertial navigation system)/CNS (celestial navigation system) integrated navigation system fails to realize all-day and all-weather navigation, this paper proposes a SINS/Landmark integrated navigation method based on landmark attitude determination to solve this problem. This integrated navigation system takes SINS as the basic scheme and uses landmark navigation to correct the error of SINS. The way of the attitude determination is to use the landmark information photographed by the landmark camera to complete feature matching. The principle of the landmark navigation and the process of attitude determination are discussed, and the feasibility of landmark attitude determination is analyzed, including the orthogonality of the attitude transform matrix, as well as the influences of the factors such as quantity and geometric position of landmarks. On this basis, the paper constructs the equations of the SINS/Landmark integrated navigation system, testifies the effectiveness of landmark attitude determination on the integrated navigation by Kalman filter, and improves the navigation precision of the system.
Landmark
Navigation System
Celestial Navigation
Feature (linguistics)
Cite
Citations (1)
In mobile robot scenarios, it is expected that the robot autonomously navigates through home or office environments and processes objects/landmarks during navigation. Landmark manipulation is identified as one important research area in robot navigation systems. We have developed an online robot landmark processing system (RLPS) to detect, classify, and localize different types of landmarks during robot navigation. The RLPS is based on a two-step classification stage which is robust and invariant towards scaling and translations. It provides a good balance between fast processing time and high detection accuracy by combining the strengths of appearance-based and model-based object classification techniques. The experimental results showed that the RLPS is more powerful as it recognizes a wide range of landmarks and efficiently handles landmarks with occlusions, viewpoint variances, and illumination changes.
Landmark
Mobile Robot Navigation
Navigation System
Cite
Citations (3)
To save time, improve flexibility and guarantee accuracy of the navigation system of the mobile robots, a multi-function landmark and a new navigation algorithm are proposed in this paper. With the new algorithm and landmark the mobile robots can be located by only a single landmark, and can be navigated in a large area by serial landmarks. The simple configuration and the convenient material of the landmark increased the system's flexibility and decreased the complexity of the algorithm. From the experimental results it can be concluded that the navigation system has fast navigation speed and high navigation accuracy.
Landmark
Navigation System
Mobile Robot Navigation
Cite
Citations (1)
The paper investigates the geometric effect of landmarks to the navigation error in the landmark based 3D vision navigation and introduces the INS/Vision integrated navigation system considering its effect. The integrated system uses the vision navigation results taking into account the dilution of precision for landmark geometry. Also, the integrated system helps the vision navigation to consider it. An indirect filter with feedback structure is designed, in which the position and the attitude errors are measurements of the filter. Performance of the integrated system is evaluated through the computer simulations. Simulation results show that the proposed algorithm works well and that better performance can be expected when the error characteristics of vision navigation are considered.
Landmark
Dilution of precision
Navigation System
Position (finance)
Mobile Robot Navigation
Cite
Citations (0)
【In this paper, the equations calculating GDOP are induced in Hyperboic, and Spherical Navigation System, respectively, The GDOP diagram shows that the DGOP in the inner region of Beacons is similar each other, but the GDOP of Hyperboic Navigation is much larger than that of Spherical Navigation due to GDOP in the outer region of Beacons. The authors propose the algorithm estimating the pulse starting time using the Hyperboic Navigation System, and prove that if Navigation use the Spherical Navigation by adopting the proposed Algorithm -in this case, Pseudo Sperical Navigation System - in the outer region where GDOP is becoming large, the position errors can be reduced.e reduced.】
Dilution of precision
Beacon
Navigation System
Position (finance)
Cite
Citations (0)
The paper investigates the geometric effect of landmarks to the navigation error in the landmark based 3D vision navigation and introduces the INS/Vision integrated navigation system considering its effect. The integrated system uses the vision navigation results taking into account the dilution of precision for landmark geometry. Also, the integrated system helps the vision navigation to consider it. An indirect filter with feedback structure is designed, in which the position and the attitude errors are measurements of the filter. Performance of the integrated system is evaluated through the computer simulations. Simulation results show that the proposed algorithm works well and that better performance can be expected when the error characteristics of vision navigation are considered.
Landmark
Dilution of precision
Navigation System
Position (finance)
Mobile Robot Navigation
Machine Vision
Cite
Citations (7)
Research on Performance Enhancement of GPS Navigation System using BD Navigation System based on STK
In order to improve the position precision of our country's GPS application users,a method integrating the BD navigation system with GPS navigation system is proposed.According to the method,PDOP data is simulated with STK.The simulation results show that the performance of integrated system is improved as well as the position precision.
Dilution of precision
Navigation System
Position (finance)
GPS/INS
Cite
Citations (0)