标题：Image-aided platform orientation determination with a GNSS/low-cost IMU system using robust-adaptive Kalman filter
作者：Yan, Wenlin; Bastos, Luisa; Goncalves, Jose A.; Magalhaes, Americo; Xu, Tianhe
作者机构：[Yan, Wenlin; Bastos, Luisa; Goncalves, Jose A.] Univ Porto, Fac Sci, Dept Geosci Environm & Spatial Planning, Rua Campo Alegre 687, P-4169007 Oporto, 更多
通讯作者：Yan, WL;Yan, WL;Yan, WL
通讯作者地址：[Yan, WL]Univ Porto, Fac Sci, Dept Geosci Environm & Spatial Planning, Rua Campo Alegre 687, P-4169007 Oporto, Portugal;[Yan, WL]Shandong Univ, Inst S 更多
关键词：GNSS/low-cost IMU navigation; Image aiding navigation; Robust-adaptive; Kalman filter
摘要：The availability of miniaturized sensors with enhanced capabilities, new methods for image processing, and easy access to small and low-weight airborne platforms for data acquisition, including unmanned vehicles, opens new possibilities for geodetic navigation applications and developing new developments in sensor fusion. In this context, the development of efficient methods, based on low-cost sensors, to extract precise georeferenced information from digital cameras is of utmost interest. We present a method to improve the performance of the integration of GNSS/low-cost IMU by exploiting the orientation changes retrieved from digital images. In this work, a robust-adaptive Kalman filter is also introduced to further improve the performance of the method deployed. The adaptive factor and the robust factor accomplished are determined by innovation information and the threshold value of orientation changes between consecutive images. Results from airborne tests used to assess the performance of the method are presented. The results show that using a non-metric camera, the Euler angle estimation accuracy of the GNSS/low-cost IMU integration can be improved to be close to 0.5 degree and an additional improvement, which can reach 59%, can be achieved after using the robust-adaptive Kalman filter.