Simulation Platform for Vision Aided Inertial Navigation
AIR FORCE INSTITUTE OF TECHNOLOGY WRIGHT-PATTERSON AFB OH GRADUATE SCHOOL OF ENGINEERING AND MANAGEMENT
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Integrated Inertial Navigation System INS and Global Positioning System GPS solutions have become the backbone of many modern positioning and navigation systems. The Achilles heel of such systems are their susceptibility to GPS outages. Hence, there has been sustained interest in alternate navigation techniques to augment a GPSINS system. With the advancement in camera technologies, visual odometry is a suitable technique. As the cost and effort required to conduct physical trials on a visual odometry system is extensive, this research seeks to provide a simulation platform that is capable of simulating different grades of GPSINS systems under various realistic visual odometry scenarios. The simulation platform also allows standardized data to be tested across different navigation filters. The utility of this simulation platform is demonstrated by a trade study on factors affecting the performance of a GPSINS system augmented with visual odometry.
- Navigation and Guidance