|Abstract:||In this paper we assess the integrity potential of snapshot position fixes with integrity, using image-based navigation with fiducial markers. To construct a model of the position-domain error we propose a model for the measurement error and a mapping into the position domain. The algorithm uses the Harris corner detector to locate features in the fiducial markers and uses the features, with known correspondence to the locations of the landmarks, to compute a position estimate. We implement the method and collect data at various distances and angles from the fiducial marker. The error distributions of both, measurements and estimates, appear Gaussian. At a distance of 1.75 m, with angles up to 60 degrees from the normal, the resulting position estimates have standard deviations in the sub-centimeter range. We see this method as a tool in providing navigation with integrity in environments where satellite navigation is unavailable or unreliable.|
Proceedings of the 31st International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2018)
September 24 - 28, 2018
Hyatt Regency Miami
|Pages:||3042 - 3054|
|Cite this article:||
Kumar, Rachit, Osechas, Okuary, "Integrity Potential of Landmark-Based Navigation," Proceedings of the 31st International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2018), Miami, Florida, September 2018, pp. 3042-3054.
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