Date of Award
Master of Science
Department of Systems Engineering and Management
David R. Jacques, PhD.
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 GPS/INS 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 GPS/INS 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 GPS/INS system augmented with visual odometry.
DTIC Accession Number
Png, Jason, "Simulation Platform for Vision Aided Inertial Navigation" (2014). Theses and Dissertations. 569.