A monocular vision-aided inertial navigation system with improved numerical stability

Daniel Magree, Eric N. Johnson

Research output: Chapter in Book/Report/Conference proceedingConference contribution

7 Citations (Scopus)

Abstract

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 propaga- tion 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 is presented. The system is compared to the standard EKF formulation in navigation performance and computational requirements. The proposed method is shown to improve numerical stability with minimal impact on computational requirements. Flight test results are presented which demonstrate navigation performance with a controller in the loop.

Original languageEnglish (US)
Title of host publicationAIAA Guidance, Navigation, and Control Conference 2015, MGNC 2015 - Held at the AIAA SciTech Forum 2015
PublisherAmerican Institute of Aeronautics and Astronautics Inc.
ISBN (Electronic)9781510801097
StatePublished - Jan 1 2015
EventAIAA Guidance, Navigation, and Control Conference 2015, MGNC 2015 - Held at the AIAA SciTech Forum 2015 - Kissimmee, United States
Duration: Jan 5 2015Jan 9 2015

Publication series

NameAIAA Guidance, Navigation, and Control Conference 2015, MGNC 2015 - Held at the AIAA SciTech Forum 2015

Other

OtherAIAA Guidance, Navigation, and Control Conference 2015, MGNC 2015 - Held at the AIAA SciTech Forum 2015
CountryUnited States
CityKissimmee
Period1/5/151/9/15

Fingerprint

Inertial navigation systems
Convergence of numerical methods
Extended Kalman filters
Navigation
Covariance matrix
Controllers

All Science Journal Classification (ASJC) codes

  • Electrical and Electronic Engineering
  • Aerospace Engineering
  • Control and Systems Engineering

Cite this

Magree, D., & Johnson, E. N. (2015). A monocular vision-aided inertial navigation system with improved numerical stability. In AIAA Guidance, Navigation, and Control Conference 2015, MGNC 2015 - Held at the AIAA SciTech Forum 2015 (AIAA Guidance, Navigation, and Control Conference 2015, MGNC 2015 - Held at the AIAA SciTech Forum 2015). American Institute of Aeronautics and Astronautics Inc..
Magree, Daniel ; Johnson, Eric N. / A monocular vision-aided inertial navigation system with improved numerical stability. AIAA Guidance, Navigation, and Control Conference 2015, MGNC 2015 - Held at the AIAA SciTech Forum 2015. American Institute of Aeronautics and Astronautics Inc., 2015. (AIAA Guidance, Navigation, and Control Conference 2015, MGNC 2015 - Held at the AIAA SciTech Forum 2015).
@inproceedings{4890aeb402794932a7875084cf423d27,
title = "A monocular vision-aided inertial navigation system with improved numerical stability",
abstract = "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 propaga- tion 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 is presented. The system is compared to the standard EKF formulation in navigation performance and computational requirements. The proposed method is shown to improve numerical stability with minimal impact on computational requirements. Flight test results are presented which demonstrate navigation performance with a controller in the loop.",
author = "Daniel Magree and Johnson, {Eric N.}",
year = "2015",
month = "1",
day = "1",
language = "English (US)",
series = "AIAA Guidance, Navigation, and Control Conference 2015, MGNC 2015 - Held at the AIAA SciTech Forum 2015",
publisher = "American Institute of Aeronautics and Astronautics Inc.",
booktitle = "AIAA Guidance, Navigation, and Control Conference 2015, MGNC 2015 - Held at the AIAA SciTech Forum 2015",

}

Magree, D & Johnson, EN 2015, A monocular vision-aided inertial navigation system with improved numerical stability. in AIAA Guidance, Navigation, and Control Conference 2015, MGNC 2015 - Held at the AIAA SciTech Forum 2015. AIAA Guidance, Navigation, and Control Conference 2015, MGNC 2015 - Held at the AIAA SciTech Forum 2015, American Institute of Aeronautics and Astronautics Inc., AIAA Guidance, Navigation, and Control Conference 2015, MGNC 2015 - Held at the AIAA SciTech Forum 2015, Kissimmee, United States, 1/5/15.

A monocular vision-aided inertial navigation system with improved numerical stability. / Magree, Daniel; Johnson, Eric N.

AIAA Guidance, Navigation, and Control Conference 2015, MGNC 2015 - Held at the AIAA SciTech Forum 2015. American Institute of Aeronautics and Astronautics Inc., 2015. (AIAA Guidance, Navigation, and Control Conference 2015, MGNC 2015 - Held at the AIAA SciTech Forum 2015).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

TY - GEN

T1 - A monocular vision-aided inertial navigation system with improved numerical stability

AU - Magree, Daniel

AU - Johnson, Eric N.

PY - 2015/1/1

Y1 - 2015/1/1

N2 - 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 propaga- tion 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 is presented. The system is compared to the standard EKF formulation in navigation performance and computational requirements. The proposed method is shown to improve numerical stability with minimal impact on computational requirements. Flight test results are presented which demonstrate navigation performance with a controller in the loop.

AB - 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 propaga- tion 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 is presented. The system is compared to the standard EKF formulation in navigation performance and computational requirements. The proposed method is shown to improve numerical stability with minimal impact on computational requirements. Flight test results are presented which demonstrate navigation performance with a controller in the loop.

UR - http://www.scopus.com/inward/record.url?scp=84973455038&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84973455038&partnerID=8YFLogxK

M3 - Conference contribution

AN - SCOPUS:84973455038

T3 - AIAA Guidance, Navigation, and Control Conference 2015, MGNC 2015 - Held at the AIAA SciTech Forum 2015

BT - AIAA Guidance, Navigation, and Control Conference 2015, MGNC 2015 - Held at the AIAA SciTech Forum 2015

PB - American Institute of Aeronautics and Astronautics Inc.

ER -

Magree D, Johnson EN. A monocular vision-aided inertial navigation system with improved numerical stability. In AIAA Guidance, Navigation, and Control Conference 2015, MGNC 2015 - Held at the AIAA SciTech Forum 2015. American Institute of Aeronautics and Astronautics Inc. 2015. (AIAA Guidance, Navigation, and Control Conference 2015, MGNC 2015 - Held at the AIAA SciTech Forum 2015).