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

2 Scopus citations

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 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 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
PublisherAmerican Institute of Aeronautics and Astronautics Inc, AIAA
ISBN (Print)9781624103391
StatePublished - Jan 1 2015
EventAIAA Guidance, Navigation, and Control Conference, 2015 - Kissimmee, United States
Duration: Jan 5 2015Jan 9 2015

Publication series

NameAIAA Guidance, Navigation, and Control Conference, 2013

Other

OtherAIAA Guidance, Navigation, and Control Conference, 2015
CountryUnited States
CityKissimmee
Period1/5/151/9/15

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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 (AIAA Guidance, Navigation, and Control Conference, 2013). American Institute of Aeronautics and Astronautics Inc, AIAA.