National_Catalogues: Vision-Aided, Cooperative Navigation for Multiple Unmanned Vehicles
Title:
Vision-Aided, Cooperative Navigation for Multiple Unmanned Vehicles
Identifier:
ADA500845
STOAbstractExternal:
The motivation of this research is to exploit three attributes of increased unmanned vehicle use for intelligence, surveillance, and reconnaissance missions. These attributes are increased numbers of unmanned vehicles, on-board vision, and wireless communications. The research begins with the development of a cooperative navigation system based on the measurement of vehicle position relative to shared landmark position estimates. Each vehicle in the network locates landmarks using it's on-board vision system and transmits the data to all other system vehicles. After receiving data from the other vehicles, the system fuses the landmarks with on-board measurements using a federated filter architecture. Simulations of the cooperative system, with and without ranging, are compared to a non-cooperative simulation. The comparison is performed using four platform motion scenarios: stationary, linear, angular, and full motion. The simulation results demonstrate position error estimate improvements of 0.5 cm to 1 cm. Additionally, the stationary and linear motion scenarios demonstrate attitude observability difficulties eliminated by the introduction of angular motion.
STOAuthorExternal:
AIR FORCE INST OF TECH WRIGHT-PATTERSON AFB OH GRADUATE SCHOOL OF ENGINEERING AND MANAGEMENT, Bingham, Jason K.
STOClassificationExternal:
N
STOKeywordsExternal:
IMAGE-AIDED NAVIGATION, COOPERATIVE NAVIGATION, FEDERATED FILTERS, FEATURE TRACKING, PASSIVE NAVIGATION, ONBOARD VISION SYSTEMS, POSITION ERROR ESTIMATES, STATIONARY MOTION, LINEAR MOTION
STOPublisher:
USA
Language:
English
STOReportSource:
http://www.dtic.mil/docs/citations/ADA500845
Published:
3/1/2009
Created at 11/9/2016 3:26 PM by System Account
Last modified at 11/9/2016 3:26 PM by System Account
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