Updating the Navigation Parameters by Direct Feedback From the Image Sensor in a Multi-sensor System

S. Moafipoor

Abstract:	Airborne mobile mapping systems are often used for precise mapping, where GPS/INS integration serves as a navigation and georegistration tool, supporting the direct orientation of the simultaneously acquired imagery. However, temporary loss of GPS lock causes the degradation of the georeferencing accuracy. This paper suggests a method to bridge this gap by updating the navigation parameters using a feedback from the image sensor. The algorithm starts from the last image before the GPS outage occurred, and through the process of relative orientation of the consecutive images and scale transfer, a strip trajectory is formed. Furthermore, the output from the INS sensors can also be considered as observation values for the exterior orientation parameters with the accuracy that depends on the navigation sensors’ performance. The processing of these parameters using the random effect model is expected to not only improve the navigation solution, but also to calibrate the IMU sensors. A random effect model is typically used to adjust the prediction and the calibration uncertainties to the correct levels using data sets of different types and qualities. The algorithm has been implemented and validated based on the simulation and actual data obtained by the AIMSTM system, developed at The Ohio State University. The preliminary results based on both simulations and actual data indicate that improved navigation accuracy can be achieved by tight integration of imagery and the INS data.
Published in:	Proceedings of the 19th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2006) September 26 - 29, 2006 Fort Worth Convention Center Fort Worth, TX
Pages:	1085 - 1092
Cite this article:	Moafipoor, S., "Updating the Navigation Parameters by Direct Feedback From the Image Sensor in a Multi-sensor System," Proceedings of the 19th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2006), Fort Worth, TX, September 2006, pp. 1085-1092.
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