TY - GEN
T1 - Self-calibrated Navigation System Based on Fusion of Distance Measurement and Visual Odometry
AU - Li, Yiming
AU - Hu, Jinwen
AU - Xu, Zhao
AU - Lv, Mingwei
AU - Zhang, Jiancheng
N1 - Publisher Copyright:
© Beijing HIWING Scientific and Technological Information Institute 2024.
PY - 2024
Y1 - 2024
N2 - In this paper, a self-calibrated navigation system based on fusion of distance measurement and visual odometry (VO) is developed. The navigation system can locate the agent with low cumulative error in the GNSS-denied environment by using some randomly placed anchors. There are two stages in the system, calibrating and positioning. In the calibrating stage, the location of each anchor is estimated optimally. Meanwhile, a criterion is proposed. It can help judge whether current measurements are sufficient to estimate of the location of each anchor. In the positioning stage, the location of the agent is estimated based on fusing of VO and range measurements between the agent and anchors. The navigation system is validated via data sets and real-world experiments. The results show that the developed system can simultaneously estimate the location of each anchor and the drone accurately and stably.
AB - In this paper, a self-calibrated navigation system based on fusion of distance measurement and visual odometry (VO) is developed. The navigation system can locate the agent with low cumulative error in the GNSS-denied environment by using some randomly placed anchors. There are two stages in the system, calibrating and positioning. In the calibrating stage, the location of each anchor is estimated optimally. Meanwhile, a criterion is proposed. It can help judge whether current measurements are sufficient to estimate of the location of each anchor. In the positioning stage, the location of the agent is estimated based on fusing of VO and range measurements between the agent and anchors. The navigation system is validated via data sets and real-world experiments. The results show that the developed system can simultaneously estimate the location of each anchor and the drone accurately and stably.
UR - https://www.scopus.com/pages/publications/85192572564
U2 - 10.1007/978-981-97-1107-9_35
DO - 10.1007/978-981-97-1107-9_35
M3 - 会议稿件
AN - SCOPUS:85192572564
SN - 9789819711062
T3 - Lecture Notes in Electrical Engineering
SP - 381
EP - 390
BT - Proceedings of 3rd 2023 International Conference on Autonomous Unmanned Systems (3rd ICAUS 2023) - Volume I
A2 - Qu, Yi
A2 - Gu, Mancang
A2 - Niu, Yifeng
A2 - Fu, Wenxing
PB - Springer Science and Business Media Deutschland GmbH
T2 - 3rd International Conference on Autonomous Unmanned Systems, ICAUS 2023
Y2 - 9 September 2023 through 11 September 2023
ER -