Aerospace and Electronic Systems Magazine August 2017 - 35

Kim et al.
is only propagated to the global map whenever the vehicle crosses
the local boundary, thus achieving O N L2 computational complexity. The results from a high-fidelity simulator demonstrated the
benefits of the tightly coupled integration of raw sensor data, providing accurate GNSS receiver and IMU calibrations even under
a single GNSS satellite vehicle. The SLAM and GNSS filter has
17 integrated navigation states and 516 map states (172 features
× 3 feature positions). The total processing time of the proposed
filter was 26 s out of the total flight time of 245 s, yielding around
a 0.1-s filter processing time per second and thus making it quite
suitable for real-time applications. The use of real flight data is
being investigated to verify the performance in real conditions. In
addition, extending the concept of geometric dilution of precision
(GDOP) is being investigated to incorporate the ground features in
a way that can provide a generalized measure of the optimal sensing geometry. For example, a reduced number of ground features
can be selected to compensate the poor vertical dilution of precision (VDOP) from the GNSS system.

( )

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