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gps_vision - C ombined GPS and Vision Combined System...

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1 gps_vision.sxi Combined GPS and Vision Combined GPS and Vision System Navigation System Navigation Eric Sutton & Scott Rosengren Graduate Engineering and Research Center University of Florida Shalimar, FL [email protected] http://www.ecsutton.ece.ufl.edu/
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2 gps_vision.sxi Fundamental Concept Fundamental Concept Assumptions : Micro Air Vehicle (wingspan < 0.5 meters) GPS receiver capable of carrier phase differential positioning Vision system Communication system Low grade inertial sensors Fact : An estimate of heading can be derived from the fusion of GPS and vision system data. Objective : Evaluate the accuracy of the heading estimate as a function of system design parameters.
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3 gps_vision.sxi Measurement of Heading Measurement of Heading Roll and pitch can be deduced from measurement of gravity vector, but accurate heading is more difficult. Magnetic compass Simple low cost sensors available Limited accuracy, affected by surrounding materials Inertial navigation Complexity, weight, power requirements Settling time needed for accurate heading GPS attitude determination Accurate, low weight Multiple antennas, separation > 0.5 meters
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