A New INS/VNS Integrated Navigation Model for Planetary Rovers

摘要

Inertial and vision integrated navigation (INS/VNS) is an important autonomous navigation method for planetary rovers. Traditional INS/VNS methods build state model based on the inertial error model, which consider the errors of vision system as random. However, the binocular cameras calibration errors will bring some constant errors to the vision system by the reconstruction process. A new INS/VNS model that adds the constant vision relative motion errors in the state is presented. The simulation results demonstrate that the presented model effectively improves the position and attitude accuracy compared with traditional methods.