Chi-Ho Park and Nam-Hyeok Kim
Satellite Navigation System, Vision System, GNSS
In this paper, we propose a reliable and stable precise positioning technique for solving common problems, such as a navigation satellite's signal occlusion in an urban canyon and increasing positioning error due to a limited number of available navigation satellites. This is a fusion system of the navigation satellites system and a vision system. Generally, the navigation satellite positioning system has a fatal weakness in that it can not calculate a position coordinate when its signal is occluded by some obstacle. For this reason, positioning by the navigation satellites system can not be used for a variety of applications. Therefore, we propose as a solution, a fusion system of the navigation satellites system and a vision system. Some target objects that have accurate position coordinates, for example, in an outdoor shaded area like an urban canyon, are installed into the vision system. 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 the outdoor shaded areas, which now accounts for 47% of the earth. And, it can reduce position errors that result from the lack of the number of available satellites, and the multipath effect. This paper shows that the fusion system can calculate a position coordinate by adding the vision system to the navigation satellites system even thought the number of available satellites are less than 4. And, it is more reliable and stable because the vision system's distance error is less than the navigation satellites system's error. Therefore it can be used for precise positioning. It can also compensate for the weakness of the navigation satellites system in an environment like an urban canyon. Therefore it can be a stable and reliable positioning method not affected by environmental influences, and it can be used for a variety of applications, such as kinematic positioning, precise positioning and so forth.
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