Integrity-Driven Landmark Attention for GPS-Vision Navigation via Stochastic Reachability

Sriramya Bhamidipati and Grace Xingxin Gao

Peer Reviewed

Abstract:	For robust GPS-vision navigation in urban areas, we propose an Integrity-driven Landmark Attention (ILA) technique via stochastic reachability. Inspired by the cognitive attention in humans, we perform convex optimization to select a subset of landmarks from GPS and vision measurements that maximizes the integrity-driven performance. Given the known measurement error bounds in non-faulty conditions, our ILA follows a unified approach to address multiple measurement faults and works with any off-the-shelf estimator. We analyze measurement deviation to estimate the stochastic reachable set of expected position for each landmark, which is parameterized via probabilistic zonotope (p-Zonotope). We apply set union to formulate a pZonotopic cost that represents the size of position bounds based on landmark inclusion or exclusion. We jointly minimize the p-Zonotopic cost and maximize the number of landmarks via convex relaxation. For an urban dataset, we demonstrate improved localization accuracy and robust predicted system availability for a pre-defined alert limit.
Published in:	Proceedings of the 33rd International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2020) September 21 - 25, 2020
Pages:	2311 - 2326
Cite this article:	Bhamidipati, Sriramya, Gao, Grace Xingxin, "Integrity-Driven Landmark Attention for GPS-Vision Navigation via Stochastic Reachability," Proceedings of the 33rd International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2020), September 2020, pp. 2311-2326. https://doi.org/10.33012/2020.17546
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