A research on SLAM aided INS/GPS navigation system

Menglong Cao; Pingyuan Cui

doi:10.1117/12.775063

10 November 2007 A research on SLAM aided INS/GPS navigation system

Menglong Cao, Pingyuan Cui

Proceedings Volume 6795, Second International Conference on Space Information Technology; 67955W (2007) https://doi.org/10.1117/12.775063
Event: Second International Conference on Spatial Information Technology, 2007, Wuhan, China

Abstract

Simultaneous Localization and Mapping (SLAM) aided INS/GPS navigation system is a landmark based terrain aided autonomous integrated system that has the capability for online map building and simultaneously utilizing the generated map to bind the errors in the Inertial Navigation System (INS) when GPS is not available. If GPS information is available, the SLAM integrated system builds a landmark-based map using an INS/GPS solution. If GPS is not available, the previously newly generated map is used to constrain the INS errors. The SLAM augmented INS/GPS system shows two capabilities of landmark tracking and mapping using GPS information and more importantly, aiding the INS under GPS denied situation. The validity of the proposed method is demonstrated by computer simulation.

Citation Download Citation

Menglong Cao and Pingyuan Cui "A research on SLAM aided INS/GPS navigation system", Proc. SPIE 6795, Second International Conference on Space Information Technology, 67955W (10 November 2007); https://doi.org/10.1117/12.775063

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