Authors
Shihao Sun, Yingmin Jia
Corresponding Author
Shihao Sun
Available Online 1 September 2016.
DOI
https://doi.org/10.2991/jrnal.2016.3.2.8How to use a DOI?
Keywords
attitude and position estimation, EKF, inertial sensor, vision sensor.
Abstract
This paper is concerned with the attitude/position estimation of a rigid-body using inertial and vision sensors. By employing the Newton-Euler method, a kinematic model is developed for the rigid-body by treating the inertial measurements as inputs. Based on the coordinate transformation, a nonlinear visual observation model is proposed by using the image coordinates of feature points as observations. Then the Extended Kalman filter (EKF) is utilized to estimate the attitude/position recursively. The effectiveness of the proposed algorithm is evaluated by simulation.

Copyright
© 2013, the Authors. Published by ALife Robotics Corp. Ltd.
Open Access
This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).