Abstract—In this paper, we propose a reliable, precise and stable technique for solving common positioning problems, such as the signal occlusion of a navigation satellite in an urban canyon, and increasing positioning error due to a limited number of available navigation satellites. Generally, satellite navigation positioning systems cannot calculate a position coordinate when its satellite signal is occluded by some obstacle, and for this reason the navigation satellites system cannot be used for a variety of positioning applications. As a solution we propose a fusion system of the navigation satellites system and a vision system that supplements the weakness of the navigation satellites system with a vision system. In this method, some target objects that have accurate position coordinates are installed into the vision system, for example, in an outdoor shaded area like an urban canyon. When the vision system recognizes a target object it loads the accurate coordinate of that target object. Then, it measures the distance by using the disparity from the camera sensor to the target object. These distance and object coordinate data are used for positioning with the navigation satellites system's data. This fusion system can be a solution for outdoor shaded areas, which now account for 47% of the earth. And, it can reduce position errors that result from the limited number of available satellites, and the multipath effect.
Index Terms—GNSS, vision, positioning.
The authors are with the Daegu Gyeongbuk Institute of Science & Technology, Korea (e-mail : chpark@dgist.ac.kr, nhkim@dgist.ac.kr).
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Cite:Chi-Ho Park and Nam-Hyeok Kim, "Analysis of Navigation Error of an Integrated GNSS-Vision System Based on Geometric Allocation of Landmarks via Modelling of the Urban Environment," International Journal of Computer Theory and Engineering vol. 9, no. 2, pp. 109-114, 2017.
