We present a novel method for integrating GPS position estimates with position and attitude estimates derived from visual odometry using a scheme similar to a classic loosely-coupled GPS/INS integration. Under such an arrangement, we derive the error dynamics of the system and develop a Kalman Filter for estimating the errors in position and attitude. Using a control-based approach to observability, we show that the errors in both position and attitude (including yaw) are fully observable when there is a component of acceleration perpendicular to the velocity vector in the navigation frame. Numerical simulations are performed to confirm the observability analysis.ud
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机译：我们提出了一种新颖的方法，用于将GPS位置估计值与从视觉里程计中得出的位置和姿态估计值进行集成，使用类似于经典的松耦合GPS / INS集成的方案。在这种安排下，我们推导了系统的误差动态，并开发了用于估计位置和姿态误差的卡尔曼滤波器。使用基于控制的可观察性方法，我们表明，当导航框架中存在垂直于速度矢量的加速度分量时，位置和姿态（包括偏航）的误差都是完全可观察的。进行数值模拟以确认可观察性分析。 ud
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