To provide an image-augmented inertial navigation system and method for transportation means.
An image-augmented inertial navigation system mounted on transportation means 10 includes an inertial navigation system configured to estimate a navigation state vector and an imager 12 configured to output pixel signals associated with terrain features passing through a field of view (x, y, z) of the imager. The system includes a processing unit configured to sense a distance from the imager to a centroid of one or more of the terrain features passing though a field of view of the imager for a given image frame associated with the feature pixel signals. The processing unit is also configured to track each terrain feature as the terrain features pass through the field of view of the imager. The processing unit is further configured to update the navigation state vector of the inertial navigation system based on calculated NED (North, East, Down) coordinates position information of the inertial navigation system relative to the tracked terrain features.
MOTAZED BENHAM
KATHRYN A ENGHOLM
VLADISLAV GAVRILETS
| US5128874A | 1992-07-07 | |||
| US6130705A | 2000-10-10 | |||
| US5072396A | 1991-12-10 | |||
| US4179693A | 1979-12-18 |
Masao Okabe
Asahi Shinmitsu
Katsumi Miyama
▲濱▼口 岳久
Takashi Kawasaki