Square-Root Extended Information Filter for Visual-Inertial Odometry for Planetary Landing

Author:

Givens Matthew W.1ORCID,McMahon Jay W.1ORCID

Affiliation:

1. University of Colorado Boulder, Boulder, Colorado 80303

Abstract

A novel sequential information filter formulation for computationally efficient visual-inertial odometry and mapping is developed in this work and applied to a realistic moon landing scenario. Careful construction of the square-root information matrix, in contrast to the full information or covariance matrix, provides easy and exact mean and covariance recovery throughout operation. Compared to an equivalent extended Kalman filter implementation, which provides identical results, the proposed filter does not require explicit marginalization of past landmark states to maintain constant-time complexity. Whereas measurements to opportunistic visual features only provide relative state information, resulting in drift over time unless a priori mapped landmarks are identified and tracked, the tight coupling of the inertial measurement unit provides some inertial state information. The results are presented in a terrain-relative navigation simulation for both a purely orbital case (with no active propulsion) and a landing case with a constant thrust.

Funder

Defense Advanced Research Projects Agency

National Aeronautics and Space Administration

Publisher

American Institute of Aeronautics and Astronautics (AIAA)

Subject

Applied Mathematics,Electrical and Electronic Engineering,Space and Planetary Science,Aerospace Engineering,Control and Systems Engineering

Cited by 2 articles. 订阅此论文施引文献 订阅此论文施引文献,注册后可以免费订阅5篇论文的施引文献,订阅后可以查看论文全部施引文献

1. Vision-aided Inertial Navigation for Planetary Landing without Feature Extraction and Matching;Acta Astronautica;2024-07

2. Ultrafast Square-Root Filter-based VINS;2024 IEEE International Conference on Robotics and Automation (ICRA);2024-05-13

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