DOP Controlled GNSS/Vision/INS Integrated Navigation under GNSS Degraded Environments

D.H. Won, J. Ahn, S, Sung, Y.J. Lee

Abstract:	Global Satellite Navigation System (GNSS) is often unavailable in urban canyons because of a lack of a sufficient number of visible satellites. We propose an integration system that improves the navigation performance by tightly coupling less than four GNSS satellites and vision-based navigation. The integration is effectively controlled by a dilution of precision (DOP) that is derived by GNSS satellites and feature points from vision. Computer simulations show an improvement in drift error by using limited GNSS measurements. Additionally, DOP-controlled integration has a lower error boundary than conventional navigation systems. Therefore, the proposed navigation system can reduce the drift error in GNSS degraded environments.
Published in:	Proceedings of the ION 2013 Pacific PNT Meeting April 23 - 25, 2013 Marriott Waikiki Beach Resort & Spa Honolulu, Hawaii
Pages:	368 - 373
Cite this article:	Won, D.H., Ahn, J., S,, Sung,, Lee, Y.J., "DOP Controlled GNSS/Vision/INS Integrated Navigation under GNSS Degraded Environments," Proceedings of the ION 2013 Pacific PNT Meeting, Honolulu, Hawaii, April 2013, pp. 368-373.
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