Date of Award
Master of Science in Electrical Engineering
Department of Electrical and Computer Engineering
Michael Veth, PhD
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.
DTIC Accession Number
Ebcin, Sedat, "Tightly Integrating Optical and Inertial Sensors for Navigation Using the UKF" (2008). Theses and Dissertations. 2768.