6DoF SLAM aided GNSS/INS Navigation in GNSS Denied and Unknown Environments

Jonghyuk Kim, Salah Sukkarieh

Department of Engineering, The Australian National University, ACT200, Australia.

DOI:                 

Abstract

This paper presents the results of augmenting 6DoF Simultaneous Localisation and Mapping (SLAM) with GNSS/INS navigation system. SLAM algorithm is a feature based terrain aided navigation system that has the capability for online map building, and simultaneously utilising the generated map to constrain the errors in the on-board Inertial Navigation System (INS). In this paper, indirect SLAM is developed based on error analysis and then is integrated to GNSS/INS fusion filter. If GNSS information is available, the system performs featurebased mapping using the GNSS/INS solution. If GNSS is not available, the previously and/or newly generated map is now used to estimate the INS errors. Simulation results will be presented which shows that the system can provide reliable and accurate navigation solutions in GNSS denied environments for an extended period of time.

Keywords

6DoF SLAM, low cost GNSS/INS, vision sensor, features mapping, UAV

Conflicts of Interest

The authors declare no conflicts of interest.

References

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