vSLAM 보조 통합항법시스템 구현 및 무인 회전익기를 이용한 비행시험 성능분석

In this paper, vSLAM aided integrated navigation system is implemented and performance analysis of the system is completed via flight test. The system can suppress divergence of position error of INS only system by updating vSLAM correction information when temporary GPS signal outage occurs in bad radio condition. In the flight test, integrated hardware containing GPS, IMU and camera is loaded under RC electric helicopter. Performance of the integrated navigation system is verified by comparing estimated position of INS/vSLAM system with that of INS only system.