@Article{WaldmannSilvChag:2016:ObAnIn,
author = "Waldmann, Jacques and Silva, Raul Ikeda Gomes da and Chagas, Ronan
Arraes Jardim",
affiliation = "{Instituto Tecnol{\'o}gico de Aeron{\'a}utica (ITA)} and {INSPER
Instituto de Ensino e Pesquisa} and {Instituto Nacional de
Pesquisas Espaciais (INPE)}",
title = "Observability analysis of inertial navigation errors from optical
flow subspace constraint",
journal = "Information Sciences",
year = "2016",
volume = "327",
pages = "300--326",
month = "Jan.",
keywords = "Inertial navigation, GPS outage, Optical flow, Subspace
constraint, Sensor fusion, Observability analysis.",
abstract = "Fusion 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 three-dimensional (3D) position
error, the velocity error along the ground velocity, and the
combination of angular misalignment 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.",
doi = "10.1016/j.ins.2015.08.017",
url = "http://dx.doi.org/10.1016/j.ins.2015.08.017",
issn = "0020-0255",
label = "lattes: 5964335207790589 3 WaldmannSilvChag:2015:ObAnIn",
language = "pt",
targetfile = "2015_waldmann.pdf",
urlaccessdate = "27 abr. 2024"
}