Integrated inertial navigation system with camera-based system using LabVIEW Software

This research exhibits an integrated Inertial Navigation System (INS) and a camera-based navigation system. The system contains three types of sensors such as A camera, capturing the terrain. The raw image data are fed into an image-processing algorithm, the output of which is a set of recognizable points in the image, An IMU (Inertial Measurement Unit) containing gyroscopes and accelerometers, magnetometer. The miniaturization, reduced cost, and increased accuracy of cameras and inertial measurement units (IMU) makes them ideal sensors for determining the 3D position and attitude of vehicles navigating in GPS-denied areas. In particular, fast and highly dynamic motions can be precisely estimated over short periods of time by fusing rotational velocity and linear acceleration measurements provided by the IMU's gyroscopes and accelerometers, respectively. The integration of the bias and noise in the inertial measurements can be significantly reduced by processing observations to point features detected in camera images in what is known as a vision-aided inertial navigation system. (author)