SYSTEM AND METHOD FOR AUGMENTING A GNSS/INS NAVIGATION SYSTEM OF A LOW DYNAMIC VESSEL USING A VISION SYSTEM

摘要

A system and method for augmenting a GNSS/INS system by using a vision system is provided. The GNSS system generates GNSS location information and the INS system generates inertial location information. The vision system further generates vision system location information based on pitch, roll, heading and velocity of the vessel. A Kalman filter de-weights the inertial location information in response to the vessel entering a low dynamic environment, while the weighting of the vision system location information is increased.