An onboard robust and stable vision-inertial navigation system that makes an unmanned vehicle autonomous in its navigation capabilities in the absence of external navigation aids like a global positioning system (GPS). The system is robust to the sensor noise properties of the onboard vision and inertial sensors, as well as errors in initial estimates of the position and orientation of the vehicle. The system enables any unmanned vehicle to autonomously navigate an unfamiliar or unknown environment. The system is also stable and robust to uncertainties in the measurement noise and dynamics of the unmanned vehicle, and does not exhibit any instability when sensors are changed or when sensor noise properties change over time.


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    Title :

    Robust and stable autonomous vision-inertial navigation system for unmanned vehicles


    Contributors:

    Publication date :

    2020-03-03


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    IPC:    B64C AEROPLANES , Flugzeuge / B64D Ausrüstung für Flugzeuge , EQUIPMENT FOR FITTING IN OR TO AIRCRAFT / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS



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