title: High-precision image aided inertial navigation with known features: observability analysis and performance evaluation.
abstract: A high-precision image-aided inertial navigation system (INS) is proposed as an alternative to the carrier-phase-based differential Global Navigation Satellite Systems (CDGNSSs) when satellite-based navigation systems are unavailable. In this paper, the image/INS integrated algorithm is modeled by a tightly-coupled iterative extended Kalman filter (IEKF). Tightly-coupled integration ensures that the integrated system is reliable, even if few known feature points (i.e., less than three) are observed in the images. A new global observability analysis of this tightly-coupled integration is presented to guarantee that the system is observable under the necessary conditions. The analysis conclusions were verified by simulations and field tests. The field tests also indicate that high-precision position (centimeter-level) and attitude (half-degree-level)-integrated solutions can be achieved in a global reference.
authors.affiliation: GNSS Research Center, Wuhan University, Wuhan 430079, China. wpjiang@whu.edu.cn.
authors.forename: Weiping
authors.initials: W
authors.lastname: Jiang
authors.affiliation: GNSS Research Center, Wuhan University, Wuhan 430079, China. li.wang@whu.edu.cn.
authors.forename: Li
authors.initials: L
authors.lastname: Wang
authors.affiliation: GNSS Research Center, Wuhan University, Wuhan 430079, China. xjniu@whu.edu.cn.
authors.forename: Xiaoji
authors.initials: X
authors.lastname: Niu
authors.affiliation: GNSS Research Center, Wuhan University, Wuhan 430079, China. zhangquan@whu.edu.cn.
authors.forename: Quan
authors.initials: Q
authors.lastname: Zhang
authors.affiliation: GNSS Research Center, Wuhan University, Wuhan 430079, China. zhanghuiagain@gmail.com.
authors.forename: Hui
authors.initials: H
authors.lastname: Zhang
authors.affiliation: School of Remote Sensing and Information Engineering, Wuhan University, Wuhan 430079, China. min.tang@whu.edu.cn.
authors.forename: Min
authors.initials: M
authors.lastname: Tang
authors.affiliation: School of Remote Sensing and Information Engineering, Wuhan University, Wuhan 430079, China. huxy@whu.edu.cn.
authors.forename: Xiangyun
authors.initials: X
authors.lastname: Hu