A Novel Vision-aided GNSS/INS Integration Method Using Line Features for Aviation Approach and Landing

Li Fu, Jun Zhang, Rui Li

Abstract:	The approach and landing phase is the busiest and most demanding phase of aviation flight. To meet the high performance requirements in the approach and landing phase, vision system is recently discussed as an aided navigation mean to be combined with the existing integration of global navigation satellite systems (GNSS) and inertial navigation system (INS). However, vision-aided navigation is quite challenging as the vision system is an angling system, whose navigation errors are approximately proportional to the length of line-of-sights. In this paper, to inhibit the errors of the vision system, line features are applied since they are noise resistant and commonly in sight during the approach and landing phase, then a novel vision-aided GNSS/INS integration method for aviation approach and landing is proposed. First, a line detection method is designed to extract the horizon line and the airport runway lines for vision navigation. Second, a vision navigation model is proposed to obtain the diffidence equation of the aircraft states and the observations. Finally, an extended Kalman Filtering (EKF) method is applied to obtain the position and attitude estimation of the aircraft. Experimental results demonstrate the effectiveness of our proposed algorithm over the existing methods in the position and attitude estimation. Besides, the relative position of the aircraft respect to the airport runways can be obtained, which can improve the flight safety during approach and landing operations.
Published in:	Proceedings of the 28th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2015) September 14 - 18, 2015 Tampa Convention Center Tampa, Florida
Pages:	967 - 973
Cite this article:	Fu, Li, Zhang, Jun, Li, Rui, "A Novel Vision-aided GNSS/INS Integration Method Using Line Features for Aviation Approach and Landing," Proceedings of the 28th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2015), Tampa, Florida, September 2015, pp. 967-973.
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