Visual-Inertial Navigation Applied to a Motorboat

Resumo

This work is concerned with the problem of state estimation for a small, nine-meter-long motorboat

navigating in a GPS-denied environment. It proposes a visual-inertial navigation method based on a continuous-
discrete formulation of the extended Kalman filter (EKF) for estimating the state vector of the motorboat, which

includes its position, velocity and attitude, as well as the sensors’ biases. The filter relies on inertial measurements,
provided by an accelerometer and a rate gyro, and on position measurements obtained by a panoramic camera
system. By employing Monte Carlo simulation, this work concludes that the proposed method has an estimation
performance comparable to GPS/INS approaches.