DOP Controlled GNSS/Vision/INS Integrated Navigation under GNSS Degraded Environments

摘要

Global Satellite Navigation System (GNSS) is often unavailable in urban canyons because of a lack of a sufficient number of visible satellites. We propose an integration system that improves the navigation performance by tightly coupling less than four GNSS satellites and vision-based navigation. The integration is effectively controlled by a dilution of precision (DOP) that is derived by GNSS satellites and feature points from vision. Computer simulations show an improvement in drift error by using limited GNSS measurements. Additionally, DOP-controlled integration has a lower error boundary than conventional navigation systems. Therefore, the proposed navigation system can reduce the drift error in GNSS degraded environments.