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首页> 外文期刊>International Journal of Control, Automation and Systems >Localization using GPS and VISION aided INS with an image database and a network of a ground-based reference station in outdoor environments
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Localization using GPS and VISION aided INS with an image database and a network of a ground-based reference station in outdoor environments

机译：在室外环境中使用GPS和VISION辅助INS进行图像定位和地面参考站网络进行本地化

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摘要

GPS/INS integrated systems do not guarantee robustness and accuracy of localization, because GPS has vulnerability to external disturbances. However, the overall performance and reliability of the system can be significantly improved by fusing multiple sensors with a different operating principle. In outdoor environments where GPS may be blocked, there are many features compared to the open space and these features can provide much information for UGV localization. Thus, this paper proposes an improved localization algorithm based on the hierarchical federation of three measurement layers, i.e., GPS, INS, and visual localization, to overcome the shortcomings of GPS/INS integrated systems. The proposed algorithm automatically switches the operation modes according to GPS status and a network of a ground-based reference station. A vocabulary tree with SURF is used in the visual localization method. In the data fusion of visual localization and INS, an asynchronous and time-delayed data fusion algorithm is presented because visual localization is always time-delayed compared with INS. By using DGPS to obtain the reference position under the dynamic conditions of the reference station, the restrictions of the conventional DGPS are overcome and all UGVs within WiBro communication range of the reference station can accurately estimate the position with a common GPS. The experiment results with a predefined path demonstrate enhancement of the robustness and accuracy of localization in outdoor environments.
机译：GPS / INS集成系统不能保证定位的鲁棒性和准确性，因为GPS容易受到外部干扰的影响。但是，通过将具有不同工作原理的多个传感器融合在一起，可以显着提高系统的整体性能和可靠性。在可能会阻塞GPS的室外环境中，与开放空间相比，有许多功能，这些功能可以为UGV定位提供很多信息。因此，本文提出了一种基于GPS，INS和视觉定位三个测量层的分层联合的改进定位算法，以克服GPS / INS集成系统的缺点。所提出的算法根据GPS状态和地面参考站的网络自动切换操作模式。视觉定位方法中使用了带有SURF的词汇树。在视觉定位和INS的数据融合中，提出了一种异步且时延的数据融合算法，因为与INS相比，视觉定位始终是时滞的。通过使用DGPS在参考站的动态条件下获得参考位置，可以克服常规DGPS的局限性，并且在参考站的WiBro通信范围内的所有UGV都可以使用通用GPS准确估算位置。具有预定路径的实验结果证明了室外环境中定位的鲁棒性和准确性的增强。

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