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Local reference filter for life-long vision aided inertial navigation

Schmid, Korbinian and Ruess, Felix and Burschka, Darius (2014) Local reference filter for life-long vision aided inertial navigation. In: International Conference on Information Fusion (ISSN: 0018-9448), pp. 1-8. Information Fusion (FUSION), 2014 17th International Conference on, 7-10 July 2014, Salamanca, Spain. ISSN 0018-9448

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Abstract

Filter based system state estimation is widely used for hard-realtime applications. In long-term filter operation the estimation of unobservable system states can lead to numerical instability due to unbounded state uncertainties. We introduce a filter concept that estimates system states in respect to changing local references instead of one global reference. In this way unbounded state covariances can be reset in a consistent way. We show how local reference (LR) filtering can be integrated into filter prediction to be used in square root filter implementations. The concept of LR-filtering is applied to the problem of vision aided inertial navigation (LR-INS). The results of a simulated 24 h quadrotor flight using the LR-INS demonstrate longterm filter stability. Real quadrotor flight experiments show the usability of the LR-INS for a highly dynamic system with limited computational resources.

Item URL in elib:https://elib.dlr.de/93579/
Document Type:Conference or Workshop Item (Speech)
Title:Local reference filter for life-long vision aided inertial navigation
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Schmid, Korbiniankorbinian.schmid (at) dlr.deUNSPECIFIED
Ruess, Felixfelix.ruess (at) dlr.deUNSPECIFIED
Burschka, DariusDarius.Burschka (at) dlr.deUNSPECIFIED
Date:July 2014
Journal or Publication Title:International Conference on Information Fusion (ISSN: 0018-9448)
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:Yes
Page Range:pp. 1-8
ISSN:0018-9448
Status:Published
Keywords:aircraft navigation;autonomous aerial vehicles;filtering theory;inertial navigation;state estimation;LR-INS;filter prediction;local reference filtering;local reference inertial navigation system;longterm filter stability;numerical instability;quadrotor flight;square root filter;system state estimation;vision aided inertial navigation;Cameras;Cloning;Covariance matrices;Equations;Noise;Switches;Vectors
Event Title:Information Fusion (FUSION), 2014 17th International Conference on
Event Location:Salamanca, Spain
Event Type:international Conference
Event Dates:7-10 July 2014
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Multisensorielle Weltmodellierung
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Perception and Cognition
Deposited By: Schmid, Korbinian
Deposited On:09 Jan 2015 16:37
Last Modified:31 Jul 2019 19:50

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