Multi-vehicle cooperative combined navigation system based on GNSS visual inertia

Feixuan Huang; Jinsong Xu; Yuxuan Xia; Jiayi Tian; Pu Wang; Qian Yang

doi:10.1117/12.3033153

5 July 2024 Multi-vehicle cooperative combined navigation system based on GNSS visual inertia

Feixuan Huang, Jinsong Xu, Yuxuan Xia, Jiayi Tian, Pu Wang, Qian Yang

Proceedings Volume 13184, Third International Conference on Electronic Information Engineering and Data Processing (EIEDP 2024); 1318454 (2024) https://doi.org/10.1117/12.3033153
Event: 3rd International Conference on Electronic Information Engineering and Data Processing (EIEDP 2024), 2024, Kuala Lumpur, Malaysia

Abstract

This paper delineates a comprehensive framework for an integrated multi-sensor navigation system that boasts high precision and robustness. The fusion of various subsystems, including GNSS, INS, vision sensors, and multi-vehicle cooperative mechanisms, is facilitated through a federated Kalman filter algorithm. This integration enables the navigation system to maintain stable and precise positioning amidst diverse and challenging scenarios, including GNSS-compromised and visually obstructed environments. Moreover, the synergy of multi-vehicle collaboration significantly augments the accuracy of the system. Empirical evaluations demonstrate that our hybrid method enhances positioning error accuracy by 25% over traditional GNSS/INS integrated navigation systems.

(2024) Published by SPIE. Downloading of the abstract is permitted for personal use only.

Citation Download Citation

Feixuan Huang, Jinsong Xu, Yuxuan Xia, Jiayi Tian, Pu Wang, and Qian Yang "Multi-vehicle cooperative combined navigation system based on GNSS visual inertia", Proc. SPIE 13184, Third International Conference on Electronic Information Engineering and Data Processing (EIEDP 2024), 1318454 (5 July 2024); https://doi.org/10.1117/12.3033153

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