Adaptive Covariance Matrix for UAV-Based Visual–Inertial Navigation Systems Using Gaussian Formulas

Adaptive Covariance Matrix for UAV-Based Visual–Inertial Navigation Systems Using Gaussian Formulas

In a variety of UAV applications, visual–inertial navigation systems (VINSs) play a crucial role in providing accurate positioning and navigation solutions. However, traditional VINS struggle to adapt flexibly to varying environmental conditions due to fixed covariance matrix settings. This limitati...

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Bibliographic Details
Main Authors: Yangzi Cong, Wenbin Su, Nan Jiang, Wenpeng Zong, Long Li, Yan Xu, Tianhe Xu, Paipai Wu
Format: Article
Language:English
Published: MDPI AG 2025-08-01
Series:Sensors
Subjects:
drones/UAV
motion blur
image quality assessment
visual–inertial navigation system
adaptive covariance matrix
Online Access:https://www.mdpi.com/1424-8220/25/15/4745
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