Title: Precise RTK Positioning with GNSS, INS, Barometer and Vision
Author(s): Patrick Henkel, Alexander Blum, Christoph Günther
Published in: Proceedings of the 30th International Technical Meeting of The Satellite Division of the Institute of Navigation (ION GNSS+ 2017)
September 25 - 29, 2017
Oregon Convention Center
Portland, Oregon
Pages: 2290 - 2303
Cite this article: Henkel, Patrick, Blum, Alexander, Günther, Christoph, "Precise RTK Positioning with GNSS, INS, Barometer and Vision," Proceedings of the 30th International Technical Meeting of The Satellite Division of the Institute of Navigation (ION GNSS+ 2017), Portland, Oregon, September 2017, pp. 2290-2303.
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Abstract: The navigation of autonomous ground vehicles and unmanned aerial vehicles requires precise and reliable position and attitude information. A sensor fusion of GNSS, INS, barometer and vision is attractive for unmanned aerial vehicles. The focus of this paper is on high-precision position and attitude determination, i.e. the aiding of vision and barometric height for fast RTK integer ambiguity fixing. The paper gives an overview of the sensor fusion architecture and the individual processing steps. The visual positioning uses camera images and geo-referenced satellite/ aerial images. An efficient feature matching is described. It uses GNSS/ INS tightly coupled position and attitude information for alignment of the camera and satellite images, and an iterative closest point search algorithm for matching the feature points.