Integration of limited GNSS signals with monocular vision based navigation

This paper proposes the GNSS (Global Navigation Satellite System) integration system with a monocular vision based navigation to improve the navigation performance in the urban canyon environment. Pseudorange and pseudorange-rate is used with feature points of the vision sensor, and a tightly coupled integration is applied to the navigation filter. Simulation results show that the limited GNSS signals can improve the position accuracy with respect to the vision based navigation.