Design and performance analysis of landmark-based INS/Vision Navigation System for UAV

This paper focuses mainly on the system design and performance analysis of the landmark-based INS/Vision Navigation System (INS/VNS). Firstly, the state and observation equations of the landmark-based INS/VNS are established. Secondly, the observability of the landmark-based INS/VNS with different number of landmarks is analyzed according to the rank of observability matrix. And Kalman Filter (KF) is designed for the landmark-based INS/VNS to estimate the errors of the navigation parameters for Unmanned Aerial Vehicle (UAV). Finally, the performance of the landmark-based INS/VNS is analyzed and compared with that of the landmark-based IMU/Vision Navigation System (IMU/VNS) via simulations.