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Attitude observability of a loosely-coupled GPS/Visual Odometry Integrated Navigation Filter

Dusha, Damien & Mejias, Luis (2010) Attitude observability of a loosely-coupled GPS/Visual Odometry Integrated Navigation Filter. In Australasian Conference on Robotics and Automation (ACRA 2010), 1-3 December 2010, Brisbane, Queensland.

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    Abstract

    We present a novel method for integrating GPS position estimates with position and attitude estimates derived from visual odometry using a scheme similar to a classic loosely-coupled GPS/INS integration. Under such an arrangement, we derive the error dynamics of the system and develop a Kalman Filter for estimating the errors in position and attitude. Using a control-based approach to observability, we show that the errors in both position and attitude (including yaw) are fully observable when there is a component of acceleration perpendicular to the velocity vector in the navigation frame. Numerical simulations are performed to confirm the observability analysis.

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    ID Code: 38971
    Item Type: Conference Paper
    Additional URLs:
    Keywords: GPS, Visual Odometry, Egomotion, Integrated Navigation, Observability
    Subjects: Australian and New Zealand Standard Research Classification > INFORMATION AND COMPUTING SCIENCES (080000) > ARTIFICIAL INTELLIGENCE AND IMAGE PROCESSING (080100) > Computer Vision (080104)
    Australian and New Zealand Standard Research Classification > ENGINEERING (090000) > ELECTRICAL AND ELECTRONIC ENGINEERING (090600) > Control Systems Robotics and Automation (090602)
    Divisions: Current > Research Centres > Australian Research Centre for Aerospace Automation
    Past > QUT Faculties & Divisions > Faculty of Built Environment and Engineering
    Copyright Owner: Copyright 2010 Please consult the authors.
    Deposited On: 03 Dec 2010 09:27
    Last Modified: 01 Mar 2012 00:27

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