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mult-state-constraint-kalman-filter--msckf-algorithm
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Heading angle Observability Enhancement in Visual Inertial Navigation via addition of Magnetometer for GPS Denied Environment
, M.Sc. Thesis Sharif University of Technology ; Pourtakdoust, Hossein (Supervisor)
Abstract
In this thesis, a method is presented for improving the observability of the heading angle in a UAV when using the Visual-Inertial navigation algorithm MSCKF by adding a magnetometer sensor. The proposed algorithm serves as a complementary extension to the primary algorithm, and efforts have been made to seamlessly integrate the magnetometer sensor into the primary algorithm to allow for easy modifications to the sensor's characteristics and to observe the resulting output in system simulations. Improving the observability of the heading angle will lead to an enhancement in the overall system state estimation. To achieve this, a new update stage is added to the existing algorithm....