Observability analysis of inertial navigation errors from optical flow subspace constraint

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dc.contributor.authorWaldmann, Jacques
dc.contributor.authorSilva, Raul Ikeda Gomes da
dc.contributor.authorChagas, Ronan Arraes Jardim
dc.coverage.paisNão Informadopt_BR
dc.creatorWaldmann, Jacques
dc.creatorSilva, Raul Ikeda Gomes da
dc.creatorChagas, Ronan Arraes Jardim
dc.date.accessioned2024-01-09T17:33:15Z
dc.date.available2024-01-09T17:33:15Z
dc.date.issued2016
dc.description.otherFusion of inertial and vision sensors is an effective aid to inertial navigation systems (INS) during GPS outage. Optical flow-aided inertial navigation circumvents feature tracking, landmark mapping, and state vector augmentation typical of simultaneous localization and mapping (SLAM). This paper focuses on the observability analysis of INS errors from implicit measurements of the optical flow subspace constraint, and derives how observable and unobservable directions are affected by the motion of a camera rigidly coupled to an inertial measurement unit (IMU). Straight motion and piecewise constant (PWC) attitude segments yield the random constant IMU errors observable. The unobservable directions are the threedimensional (3D) position error, the velocity error along the ground velocity, and the combination of angular isalignment about the local vertical and the velocity error along the horizontal direction orthogonal to the ground velocity. The velocity error along the ground velocity becomes observable with horizontal maneuvering. A Monte Carlo simulation validates the observability analysis, and reveals the feasibility of IMU calibration and the mitigation of navigation error growth with the aid of the optical flow subspace constraint compared with the unaided INS.pt_BR
dc.format.extentp. 300-326pt_BR
dc.format.mediumDigitalpt_BR
dc.identifier.doihttps://doi.org/10.1016/j.ins.2015.08.017pt_BR
dc.identifier.issn0020-0255pt_BR
dc.identifier.issn1872-6291pt_BR
dc.identifier.urihttps://repositorio.insper.edu.br/handle/11224/6326
dc.identifier.volume327pt_BR
dc.language.isoInglêspt_BR
dc.publisherElsevierpt_BR
dc.relation.ispartofInformation sciencespt_BR
dc.rights.licenseO INSPER E ESTE REPOSITÓRIO NÃO DETÊM OS DIREITOS DE USO E REPRODUÇÃO DOS CONTEÚDOS AQUI REGISTRADOS. É RESPONSABILIDADE DO USUÁRIO VERIFICAR OS USOS PERMITIDOS NA FONTE ORIGINAL, RESPEITANDO-SE OS DIREITOS DE AUTOR OU EDITORpt_BR
dc.subject.keywordsInertial navigationpt_BR
dc.subject.keywordsGPS outagept_BR
dc.subject.keywordsOptical flowpt_BR
dc.subject.keywordsSubspace constraintpt_BR
dc.subject.keywordsSensor fusionpt_BR
dc.subject.keywordsObservability analysispt_BR
dc.titleObservability analysis of inertial navigation errors from optical flow subspace constraintpt_BR
dc.typejournal article
dspace.entity.typePublication
local.identifier.sourceUrihttps://www.sciencedirect.com/science/article/pii/S0020025515005927?via%3Dihub
local.subject.cnpqEngenhariaspt_BR
local.typeArtigo Científicopt_BR

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