Tightly Integrating Optical and Inertial Sensors for Navigation Using the UKF
Language: English
Published by Creative Media Partners, LLC Mai 2025, 2025
- Hardcover
- New
Seller: AHA-BUCH GmbH, Einbeck, GermanyAHA-BUCH GmbH
AbeBooks seller since August 14, 2006
Condition: New
£ 36.72
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Seller Inventory # 9781025124483
- Title
- Tightly Integrating Optical and Inertial Sensors for Navigation Using the UKF
- Author
- Sedat Ebcin
- Publisher
- Creative Media Partners, LLC Mai 2025
- Publication year
- 2025
- Condition
- Neu
- Binding
- Buch
- Language
- English
- ISBN 10
- 1025124480
- ISBN 13
- 9781025124483
- Item weight
- 286 grams
- Dimensions
- 234x156x6 mm
The motivation of this research is to address the benefits of tightly integrating optical and inertial sensors where GNSS signals are not available. The research begins with describing the navigation problem. Then, error and measurement models are presented. Given a set of features, a feature detection and projection algorithm is developed which utilizes inertial measurements to predict vectors in the feature space between images. The unscented Kalman filter is applied to the navigation system using the inertial measurements and feature matches to estimate the navigation trajectory. Finally, the image-aided navigation algorithm is tested using a simulation and an experiment. As a result, the optical measurements combined with the inertial sensors result in improved performance for non-GNSS based navigation.
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