A New INS/VNS Integrated Navigation Model for Planetary Rovers

Abstract:

Inertial and vision integrated navigation (INS/VNS) is an important autonomous navigation method for planetary rovers. Traditional INS/VNS methods build state model based on the inertial error model, which consider the errors of vision system as random. However, the binocular cameras calibration errors will bring some constant errors to the vision system by the reconstruction process. A new INS/VNS model that adds the constant vision relative motion errors in the state is presented. The simulation results demonstrate that the presented model effectively improves the position and attitude accuracy compared with traditional methods.

• Periodical: Applied Mechanics and Materials (Volume 721)
• Pages: 406-410
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.721.406
• Online since: December 2014
• Authors: Yong Zhi Xu*, Xiao Lin Ning
• Keywords: Inertial Navigation, INS/VNS Integrated Navigation, Planter Rovers, Vision Navigation

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