An Algorithm for GPS Tight Optical Integration (TOI)

Sumit Bhattacharya, Tom Arthur, Zhen Zhu, Maarten Uijt de Haag

Abstract:	In this paper the authors describe an algorithm called Tight Optical Integration (TOI). This algorithm integrates single epoch GPS range measurements and optical (camera) information to form position estimates. It is believed that this is the first algorithm in which GPS and optical measurements are integrated within an overdetermined ordinary least squares geometry matrix. Particular to this experiment GPS range and angle-based optical measurements are combined within the geometry matrix. Unlike LIDAR systems, no range information is required from the optical sensor. Due to satellite signal blockage and degradation within an urban environment it is likely that while some GPS signals are available, an insufficient number of measurements are available to calculate a GPS only position solution. Because of this it is shown that the availability of optical pseudolites can enhance system availability and accuracy within an urban canyon environment.
Published in:	Proceedings of the 2008 National Technical Meeting of The Institute of Navigation January 28 - 30, 2008 The Catamaran Resort Hotel San Diego, CA
Pages:	508 - 513
Cite this article:	Bhattacharya, Sumit, Arthur, Tom, Zhu, Zhen, de Haag, Maarten Uijt, "An Algorithm for GPS Tight Optical Integration (TOI)," Proceedings of the 2008 National Technical Meeting of The Institute of Navigation, San Diego, CA, January 2008, pp. 508-513.
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