Mathematical Model of Errors of Odometry and Georeferencing Channels in Visual Correlation Extreme Navigation

Maryna Petrivna Mukhina, Volodymyr Petrovych Kharchenko

Abstract


The mathematic model of errors in correlation with the extreme navigation system (CENS) is developed basing on odometry and geo-referencing channels. The realization of the model is done in Simulink, and based on regular and random components of additive noise. The results of simulations prove accumulation of errors for odometry errors and its mitigation in case of geo-referencing in periods of correction.


Keywords


correlation extremal navigation; visual odometry; georeferencing; feature matching; cartographic errors; dead reckoning errors

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References


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