GNSS World of China

Volume 45 Issue 3
Jun.  2020
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FENG Yi, TU Rui, HAN Junqiang, HOU Furong, HONG Ju, LIU Jinhai, WANG Xingxing. Stereo vision-aided GNSS navigation and positioning in harsh environments[J]. GNSS World of China, 2020, 45(3): 48-53. doi: DOI:10.13442/j.gnss.1008-9268.2020.03.010
Citation: FENG Yi, TU Rui, HAN Junqiang, HOU Furong, HONG Ju, LIU Jinhai, WANG Xingxing. Stereo vision-aided GNSS navigation and positioning in harsh environments[J]. GNSS World of China, 2020, 45(3): 48-53. doi: DOI:10.13442/j.gnss.1008-9268.2020.03.010
shu

Stereo vision-aided GNSS navigation and positioning in harsh environments

doi: DOI:10.13442/j.gnss.1008-9268.2020.03.010
  • 1.

    Nation Time Service Center, Chinese Academy of Sciences, Xi′an 710600,China

  • 2.

    University of Chinese Academy of Sciences, Beijing 100049,China

  • 3.

    Key Laboratory of Precision Navigation and Timing Technology, Chinese Academy of Sciences, Xi′an 710600,China

  • Publish Date: 2020-06-15
    Abstract
  • The visual odometer can provide short-term and precise navigation and positioning in complex environments. GNSS has the characteristics of all-weather. global and  no accumulate error over time. But under the multipath effect of harsh environments, GNSS positioning accuracy will be worse or even unusable. In order to study the visual odometer-aided GNSS navigation and positioning technology in complex environments, the navigation positioning principle of the visual odometer is introduced firstly; then the GNSS positioning results and the visual odometer positioning results are loosely combined in a Kalman filter; utilizing the visual odometer positioning results and the predicted visual odometer positioning errors to achieve GNSS navigation positioning in harsh environments. The simulation verification results based on the KITTI data set show that the designed combined scheme can continuously provide reliable navigation and positioning in harsh environments.

     

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