저성능 관성센서 이용을 위한 영상 정보 통합 알고리즘 설계

Abstract

Abstract : As highly sophisticated missions using AUV(Autonomous Underwater Vehicle) expand to include more hazardous situations, there are increasing needs to techniques which provide accurate navigation information. In order to provide continuous and accurate navigation information, integrated navigation systems have been used in which several sensors are used. Especially, vision is a powerful sensing modality and could be used in many tasks. This paper proposes vision integrated navigation algorithm design for using low performance inertial sensor. The position and attitude estimate from vision sensor using direct geo-referencing is compared with that from INS sensor. The measured position and attitude error are inputs of the integrated Kalman filter.