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Development and Flight Test of a Robust Optical-Inertial Navigation System Using Low-Cost Sensors

  • Couverture cartonnée
  • 298 Nombre de pages
Texte du rabat This report develops and tests a precision navigation algorithm fusing optical and inertial measurements.This algor... Lire la suite
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Description

Texte du rabat

This report develops and tests a precision navigation algorithm fusing optical and inertial measurements.This algorithm provides an alternative to the Global Positioning System (GPS) as a precision navigation source,enabling navigation in GPS denied environments, using low-cost sensors and equipment.A rigorous study of the fundamental nature of optical/inertial navigation is accomplished through theexamination of the observability grammian of the underlying measurement equations. Through this analysis, a set ofprinciples of design are proposed guiding the development of a navigation algorithm. An algorithm titled theSimultaneous Location Aiding And Mapping Recursively (SLAAMR) is thus described incorporating theseprinciples of design, an extended Kalman Filter (EKF) and a Simultaneous Location And Mapping (SLAM) process.The SLAAMR algorithm is designed to provide robust navigation performance in realistic, full scale environments ata low cost.The principles of design and the SLAAMR algorithm are tested and evaluated using data collected at theUnited States Air Force Test Pilot School (USAF TPS). A full-scale aircraft flying operationally representativeparameters and profiles was used to collect the data, and was correlated with highly precise Time Space PositionInformation (TSPI) truth data for validation and evaluation purposes.

Détails sur le produit

Titre: Development and Flight Test of a Robust Optical-Inertial Navigation System Using Low-Cost Sensors
Auteur:
Code EAN: 9781249592143
ISBN: 1249592143
Format: Couverture cartonnée
nombre de pages: 298
Poids: 535g
Taille: H246mm x B189mm x T18mm
Année: 2012