AN INTEGRATED FAULT-TOLERANT COMPUTER VISION-AIDED NAVIGATION SYSTEM FOR AN UNMANNED VEHICLE

摘要

An integrated navigation system for unmanned vehicles is presented in the report. The composition, the structure, mathematical models, software and algorithms of the system are given. A strapdown inertial navigation system, aided by a satellite navigation receiver and a computer vision system, is the system's core. An approach to the design of the system fault exclusion algorithm is suggested and its structure is shown. The results of the simulation, confirming the efficiency and effectiveness of proposed algorithms are given.