Precise RTK Positioning with GNSS, INS, Barometer and Vision

The navigation of autonomous ground vehicles and unmanned aerial vehicles requires precise and reliable position and attitude information. A sensor fusion of GNSS, INS, barometer and vision is attractive for unmanned aerial vehicles. The focus of this paper is on high-precision position and attitude determination, i.e. the aiding of vision and barometric height for fast RTK integer ambiguity fixing. The paper gives an overview of the sensor fusion architecture and the individual processing steps. The visual positioning uses camera images and geo-referenced satellite/ aerial images. An efficient feature matching is described. It uses GNSS/ INS tightly coupled position and attitude information for alignment of the camera and satellite images, and an iterative closest point search algorithm for matching the feature points.      «

The navigation of autonomous ground vehicles and unmanned aerial vehicles requires precise and reliable position and attitude information. A sensor fusion of GNSS, INS, barometer and vision is attractive for unmanned aerial vehicles. The focus of this paper is on high-precision position and attitude determination, i.e. the aiding of vision and barometric height for fast RTK integer ambiguity fixing. The paper gives an overview of the sensor fusion architecture and the individual processing steps...     »