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

@inproceedings{Kim2005DoFSA,
  title={DoF SLAM aided GNSS / INS Navigation in GNSS Denied and Unknown Environments},
  author={Jonghyuk Kim and Salah Sukkarieh},
  year={2005}
}
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… CONTINUE READING

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