Home » Coupling Vanishing Point Tracking with Inertial Navigation to Estimate Attitude in a Structured Environment by Dayvid Prahl
Coupling Vanishing Point Tracking with Inertial Navigation to Estimate Attitude in a Structured Environment Dayvid Prahl

Coupling Vanishing Point Tracking with Inertial Navigation to Estimate Attitude in a Structured Environment

Dayvid Prahl

Published October 2nd 2012
ISBN : 9781249578253
Paperback
112 pages
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 About the Book 

This research aims to obtain accurate and stable estimates of a vehicles attitude by coupling consumer-grade inertial and optical sensors. This goal is pursued by first modeling both inertial and optical sensors and then developing a technique forMoreThis research aims to obtain accurate and stable estimates of a vehicles attitude by coupling consumer-grade inertial and optical sensors. This goal is pursued by first modeling both inertial and optical sensors and then developing a technique for identifying vanishing points in perspective images of a structured environment. The inertial and optical processes are then coupled to enable each one to aid the other. The vanishing point measurements are combined with the inertial data in an extended Kalman filter to produce overall attitude estimates. This technique is experimentally demonstrated in an indoor corridor setting using a motion profile designed to simulate flight. Through comparison with a tactical-grade inertial sensor, the combined consumer-grade inertial and optical data are shown to produce a stable attitude solution accurate to within 1.5 degrees. A measurement bias is manifested which degrades the accuracy by up to another 2.5 degrees.