An Autonomous Vehicle Navigation System Based on Inertial and Visual Sensors

被引：16

作者：

Guang, Xingxing ^{[1
,2
]}

Gao, Yanbin ^{[1
]}

Leung, Henry ^{[2
]}

Liu, Pan ^{[3
]}

Li, Guangchun ^{[1
]}

机构：

[1] Harbin Engn Univ, Coll Automat, Harbin 150001, Heilongjiang, Peoples R China

[2] Univ Calgary, Dept Elect & Comp Engn, Calgary, AB T2N 1N4, Canada

[3] Beijing Inst Control & Elect Technol, Beijing 100032, Peoples R China

来源：

SENSORS | 2018年 / 18卷 / 09期

关键词：

autonomous vehicle; strapdown inertial navigation system; inertial-visual fusion method; Kalman Filter; INTEGRATED NAVIGATION;

D O I：

10.3390/s18092952

中图分类号：

O65 [分析化学];

学科分类号：

070302 ; 081704 ;

摘要：

The strapdown inertial navigation system (SINS) is widely used in autonomous vehicles. However, the random drift error of gyroscope leads to serious accumulated navigation errors during long continuous operation of SINS alone. In this paper, we propose to combine the Inertial Measurement Unit (IMU) data with the line feature parameters from a camera to improve the navigation accuracy. The proposed method can also maintain the autonomy of the navigation system. Experimental results show that the proposed inertial-visual navigation system can mitigate the SINS drift and improve the accuracy, stability, and reliability of the navigation system.

引用

页数：13

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