PRECISE AND RELIABLE POSITIONING BASED ON THE INTEGRATION OF NAVIGATION SATELLITE SYSTEM AND VISION SYSTEM

다국어 초록 (Multilingual Abstract)

In this paper, we propose a precise and reliable positioning method for solving common problems, such as anavigation satellite's signal occlusion in an urban canyon and the positioning error due to a limited number of visiblenavigation satellites. This is an integrated system of the navigation satellites system and a vision system. In general, thenavigation satellite positioning system has a fatal weakness in that it can not calculate a position coordinate when its signalis occluded by some obstacle. For this reason, positioning by using the navigation satellites system can not be used for avariety of applications. Therefore, we propose as a method to integrate both the navigation satellites system and the visionsystem. Some target objects that have accurate position coordinates, for example, in an outdoor shaded area like an urbancanyon, are installed into the vision system. When the vision system recognizes a target object it loads the accurate coordinateof that target object. Then, it measures the distance by using the disparity from the camera sensor to the target object. Thesedistance and object coordinate data are used for positioning with the navigation satellites system's data. This integrated systemcan be used for the positioning solution where the user is in unfavorable conditions. This paper shows that the algorithm ofintegrated system and the numerical test performed. The results indicate that the reliable and stable positioning can be obtainedby introducing the vision system to the satellite navigation system.

참고문헌 (Reference)

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