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Visual-Aided INS Using Converted Measurements

机译：使用转换后的测量值的视觉辅助INS

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A new linearization method using converted measurements is developed for aiding a navigation grade Inertial Navigation System (INS), which is endowed with a monocular Electro-Optical (E/O) sensor—We refer to Visual-INS (V-INS). Using the new linearization method, a ground feature of unknown position is optically tracked over a short, 10-second measurement epoch by a human operator/pilot while the aircraft is on autopilot. Although the E/O sensor-provided bearing measurements are inherently non-linear, they are converted to a linear form allowing the application of a standard linear regression algorithm for nav. state estimation. The only linearization error introduced is in the short measurement error terms. Successive bearing-only measurements taken over time allow good estimation of the INS horizontal velocity error and horizontal accelerometer biases. At the completion of the measurement epoch, the INS is corrected by subtracting out the estimated errors. Aiding the INS in this manner provides a significant improvement in the accuracy of the INS-provided aircraft navigation state estimates when compared to those of a free/unaided INS. Applications for this autonomous navigation approach include navigation in Global Positioning System (GPS) denied environments and/or when RF emitting/receiving sensors are undesirable. * 1 The views expressed in this paper are those of the authors and do not reflect the official policy or position of the United States Air Force, Department of Defense, or the United States Government.
机译：开发了一种使用转换后的测量值的新线性化方法，以辅助具有单眼电光（E / O）传感器的导航级惯性导航系统（INS），我们称为Visual-INS（V-INS）。使用新的线性化方法，当飞机处于自动驾驶状态时，操作员/驾驶员会在短短的10秒测量时间内以光学方式跟踪未知位置的地面特征。尽管E / O传感器提供的轴承测量本质上是非线性的，但它们可以转换为线性形式，从而允许对导航应用标准的线性回归算法。状态估计。唯一引入的线性化误差是短期测量误差。随时间进行的连续纯轴承测量可以很好地估算INS水平速度误差和水平加速度计偏差。在测量时期完成时，通过减去估计的误差来校正INS。与自由/独立INS相比，以这种方式帮助INS可以大大提高INS提供的飞机导航状态估计的准确性。这种自主导航方法的应用包括在全球定位系统（GPS）被拒绝的环境中和/或不希望使用RF发射/接收传感器的情况下的导航。 * 1本文中表达的观点仅为作者的观点，并不反映美国空军，国防部或美国政府的官方政策或立场。

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