Observable modes and absolute navigation capability for landmark-based IMU/Vision Navigation System of UAV

Abstract This paper focuses mainly on the analysis of observable modes and absolute navigation capability of the landmark-based IMU/Vision Navigation System (IMU/VNS) for Unmanned Aerial Vehicle (UAV). Firstly, the mathematical model of the IMU/VNS is established. Secondly, the observability matrix of the landmark-based IMU/VNS is obtained based on Lie derivative. And the observable modes with different number of landmarks are derived by solving the null space of the observability matrix. Finally, by deriving the navigation parameters of UAV from the observable modes, analysis is made on the absolute navigation capability of the landmark-based IMU/VNS when the absolute positions of the landmarks are available. And simulation results verify the correctness of all the above analysis methods.

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