Abstract
This paper proposes weighted dilution of precision (WDOP) as an indicator of the accuracy of position and attitude in vision-based navigation. WDOP accurately represents the tendencies of navigational errors. It is obtained by weighted least squares. The weight is determined by the deployment of feature points and the geometrical distortion of the vision sensor. The performance of WDOP was verified by simulation. The values of the dilution of precision (DOP) and WDOP were computed and analyzed by comparison with the navigational errors. Additionally, a correlation test was used to determine how well they reflect the trends of the navigational errors. Simulation results showed that WDOP was strongly correlated with navigational errors, which makes it a parameter that can be used to determine the quality of a vision-based navigation system. The proposed WDOP can be used as a practical indicator of navigation performance.
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Recommended by Editorial Board member Sooyeong Yi under the direction of Editor Myotaeg Lim.
This research was supported by the Basic Science Research Program through the National Research Foundation of Korea (NRF), funded by the Ministry of Education, Science and Technology (No. 2009-0090722).
Dae Hee Won received his B.S., M.S., and Ph.D. degrees in Aerospace Information Engineering from Konkuk University, Korea, in 2006, 2008, and 2012, respectively. He is a research associate in the Colorado Center for Astrodynamics Research at University of Colorado at Boulder, United States. His research interests include GPS/INS/Vision system integration, GPS RTK, and non-linear estimation.
Sebum Chun received his Ph.D. degree in Aerospace Engineering from Konkuk University in 2008. He is a senior researcher in the Satellite Navigation team, CNS/ATM and Satellite Navigation Research Center in Korea Aerospace Research Institute (KARI). His research interests include GPS, INS, SLAM and non-linear system state estimation.
Seung-Woo Lee is a research professor in Pusan National University. He received his Ph.D. degree from University of Texas at Austin in Aerospace Engineering in 2002. His research interests include GNSS applications, satellitebased time transfer and synchronization, and stochastic estimation and control.
Sangkyung Sung received the B.S., M.S., and Ph.D. degrees in Electrical Engineering from Seoul National University, Seoul, Korea, in 1996, 1998, and 2003, respectively. From March 1996 to February 2003, he worked at the Automatic Control Research Center in Seoul National University. Currently, he is an Associate Professor in the department of Aerospace Information Engineering, Konkuk University, Korea. His research interests are avionic system hardware, inertial sensors, integrated navigation theory, and applications to unmanned systems.
Jiyun Lee is an Assistant Professor in the School of Mechanical Aerospace and Systems Engineering at Korea Advanced Institute of Science and Technology. She has supported the GBAS and SBAS program over the past six years as a consulting professor at Stanford University and a Principal GPS Systems Engineer at Tetra Tech AMT. She received her B.S. degree from Yonsei University, M.S. degree from the University of Colorado at Boulder, and her Ph.D. from Stanford University in 2005 in Aeronautics and Astronautics. Prior to joining AMT, she worked for SiRF Technology, Inc. as a Senior GPS systems engineer.
Jeongrae Kim is an Associate Professor in the School of Aerospace and Mechanical Engineering at Korea Aerospace University, Korea. He received his Ph.D. in Aerospace Engineering from the University of Texas at Austin in 2000. His research interest includes satellite instrument simulations, orbit determination, GNSS ionosphere, and other GNSS applications.
Young Jae Lee is a Professor in the Department of Aerospace Information Engineering at Konkuk University, Korea. He received his Ph.D. degree in Aerospace Engineering from the University of Texas at Austin in 1990. His research interests include integrity monitoring of GNSS signals, GBAS, RTK, attitude determination, orbit determination, and GNSS-related engineering problems.
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Won, D.H., Chun, S., Lee, SW. et al. Geometrical distortion integrated performance index for vision-based navigation system. Int. J. Control Autom. Syst. 11, 1196–1203 (2013). https://doi.org/10.1007/s12555-012-0194-y
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DOI: https://doi.org/10.1007/s12555-012-0194-y