Carrier phase based differential Global Navigation Satellite Systems (CDGNSS) are unavailable in challenging environments such as urban canyon and indoor locations due to signal blocking and jamming. A high-precision image-aided inertial navigation system (INS) is proposed and can be an alternative to the CDGNSS. In this paper, a tightly coupled image/INS integrated algorithm modeled by iterative Extended Kalman Filter (IEKF) is presented, which use known features in the image to update the inertial navigation system. Both camera and inertial models are derived in the ECEF (Earth-Centered Earth-Fixed) coordinate system. The global observability of this tight integration is analyzed to clarify the observability of our navigation system under certain conditions. Field test showed that high-precision position (centimeter level) and attitude (half degree) integrated solution can be achieved in a global reference.
展开▼
