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- W2055596522 abstract "위성항법시스템과 INS가 결합된 항법 시스템은 가용 위성이 없는 경우 항법 정보를 제공하지 못하는 단점이 있다. 이러한 단점을 극복하기 위해 비전센서를 결합한 항법 시스템이 대안으로 사용되지만, 일반적으로 특징점만 사용하여 항법을 수행하므로 가관측성이 부족한 문제점이 존재한다. 이때 사전에 위치가 알려져 있는 랜드마크를 추가적으로 사용하면 특징점만 이용하는 경우에 비해 가관측성을 향상 시킬 수 있다. 본 논문에서는 추가적인 랜드마크를 사용하는 경우에 대하여, TOM/SOM 분석과 고유치 분석을 통해 가관측성 향상 정도를 분석하였다. 시뮬레이션 결과 특징점만 사용하는 경우 항상 가관측성이 부족하나 랜드마크를 사용하는 경우 2번째 갱신과정 이후에는 완전 가관측한 특성을 보였다. 따라서 랜드마크를 사용하면 가관측성이 향상되므로 전체 시스템 성능을 향상시킬수 있다. A GNSS/INS integration system can not provide navigation solutions if there are no available satellites. To overcome this problem, a vision sensor is integrated with this system. Since generally a vision aided integration system uses only feature point to compute navigation solutions, it has a problem in observability. In this case, additional landmarks, which is priory known points, can improve the observability. In this paper, the observability is evaluated using TOM/SOM matrix and Eigenvalues. There are always the observability problems in the feature-point-only case, but the landmark-use case is fully observable after the <TEX>$2^{nd}$</TEX> update time. Consequently the landmarks ensure full observability, so the system performance can be improved." @default.
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- W2055596522 date "2010-03-01" @default.
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- W2055596522 title "Observability Analysis of a Vision-INS Integrated Navigation System Using Landmark" @default.
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- W2055596522 doi "https://doi.org/10.5139/jksas.2010.38.3.236" @default.
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