Abstract
This research presents a real time method to localize an aircraft without GPS using fixed landmarks observed from an optical sensor. The objective is to achieve practical navigation performance using available autopilot hardware and a downward pointing camera. Computer vision cascade object detectors are trained to detect selected landmarks prior to a flight. The method also explores aircraft localization using roads between landmark updates. During a flight, the aircraft navigates with inertial measurements and obtains measurement updates when landmarks are detected. Inertial measurements and information extracted from the aircraft’s camera images are combined into an unscented Kalman filter to obtain an estimate of the aircraft’s position and wind velocities.
| Original language | English (US) |
|---|---|
| Title of host publication | AIAA Guidance, Navigation, and Control Conference |
| Publisher | American Institute of Aeronautics and Astronautics Inc, AIAA |
| ISBN (Print) | 9781624103896 |
| State | Published - Jan 1 2016 |
| Event | AIAA Guidance, Navigation, and Control Conference, 2016 - San Diego, United States Duration: Jan 4 2016 → Jan 8 2016 |
Publication series
| Name | 2016 AIAA Guidance, Navigation, and Control Conference |
|---|
Other
| Other | AIAA Guidance, Navigation, and Control Conference, 2016 |
|---|---|
| Country | United States |
| City | San Diego |
| Period | 1/4/16 → 1/8/16 |
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All Science Journal Classification (ASJC) codes
- Control and Systems Engineering
- Aerospace Engineering
- Electrical and Electronic Engineering
Cite this
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Landmark-aided localization for air vehicles using learned object detectors. / DeAngelo, Mark P.; Horn, Joseph Francis.
AIAA Guidance, Navigation, and Control Conference. American Institute of Aeronautics and Astronautics Inc, AIAA, 2016. (2016 AIAA Guidance, Navigation, and Control Conference).Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
TY - GEN
T1 - Landmark-aided localization for air vehicles using learned object detectors
AU - DeAngelo, Mark P.
AU - Horn, Joseph Francis
PY - 2016/1/1
Y1 - 2016/1/1
N2 - This research presents a real time method to localize an aircraft without GPS using fixed landmarks observed from an optical sensor. The objective is to achieve practical navigation performance using available autopilot hardware and a downward pointing camera. Computer vision cascade object detectors are trained to detect selected landmarks prior to a flight. The method also explores aircraft localization using roads between landmark updates. During a flight, the aircraft navigates with inertial measurements and obtains measurement updates when landmarks are detected. Inertial measurements and information extracted from the aircraft’s camera images are combined into an unscented Kalman filter to obtain an estimate of the aircraft’s position and wind velocities.
AB - This research presents a real time method to localize an aircraft without GPS using fixed landmarks observed from an optical sensor. The objective is to achieve practical navigation performance using available autopilot hardware and a downward pointing camera. Computer vision cascade object detectors are trained to detect selected landmarks prior to a flight. The method also explores aircraft localization using roads between landmark updates. During a flight, the aircraft navigates with inertial measurements and obtains measurement updates when landmarks are detected. Inertial measurements and information extracted from the aircraft’s camera images are combined into an unscented Kalman filter to obtain an estimate of the aircraft’s position and wind velocities.
UR - http://www.scopus.com/inward/record.url?scp=84958063792&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84958063792&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:84958063792
SN - 9781624103896
T3 - 2016 AIAA Guidance, Navigation, and Control Conference
BT - AIAA Guidance, Navigation, and Control Conference
PB - American Institute of Aeronautics and Astronautics Inc, AIAA
ER -