Vision-aided inertial navigation for flight control

Allen D. Wu, Eric Johnson, Alison A. Proctor

Research output: Chapter in Book/Report/Conference proceedingConference contribution

47 Citations (Scopus)

Abstract

Many onboard navigation systems use the Global Positioning System to bound the errors that result from integrating inertial sensors over time. Global Positioning System information, however, is not always accessible since it relies on external satellite signals. To this end, a vision sensor is explored as an alternative for inertial navigation in the context of an Extended Kalman Filter used in the closed-loop control of an unmanned aerial vehicle. The filter employs an onboard image processor that uses camera images to provide information about the size and position of a known target, thereby allowing the flight computer to derive the target's pose. Assuming that the position and orientation of the target are known a priori, vehicle position and attitude can be determined from the fusion of this information with inertial and heading measurements. Simulation and flight test results verify filter performance in the closed-loop control of an unmanned rotorcraft.

Original languageEnglish (US)
Title of host publicationCollection of Technical Papers - AIAA Guidance, Navigation, and Control Conference 2005
Pages1669-1681
Number of pages13
Volume3
StatePublished - Dec 1 2005
EventAIAA Guidance, Navigation, and Control Conference 2005 - San Francisco, CA, United States
Duration: Aug 15 2005Aug 18 2005

Other

OtherAIAA Guidance, Navigation, and Control Conference 2005
CountryUnited States
CitySan Francisco, CA
Period8/15/058/18/05

Fingerprint

Global positioning system
Navigation
Sensors
Extended Kalman filters
Unmanned aerial vehicles (UAV)
Navigation systems
Fusion reactions
Cameras
Satellites

All Science Journal Classification (ASJC) codes

  • Engineering(all)

Cite this

Wu, A. D., Johnson, E., & Proctor, A. A. (2005). Vision-aided inertial navigation for flight control. In Collection of Technical Papers - AIAA Guidance, Navigation, and Control Conference 2005 (Vol. 3, pp. 1669-1681)
Wu, Allen D. ; Johnson, Eric ; Proctor, Alison A. / Vision-aided inertial navigation for flight control. Collection of Technical Papers - AIAA Guidance, Navigation, and Control Conference 2005. Vol. 3 2005. pp. 1669-1681
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Wu, AD, Johnson, E & Proctor, AA 2005, Vision-aided inertial navigation for flight control. in Collection of Technical Papers - AIAA Guidance, Navigation, and Control Conference 2005. vol. 3, pp. 1669-1681, AIAA Guidance, Navigation, and Control Conference 2005, San Francisco, CA, United States, 8/15/05.

Vision-aided inertial navigation for flight control. / Wu, Allen D.; Johnson, Eric; Proctor, Alison A.

Collection of Technical Papers - AIAA Guidance, Navigation, and Control Conference 2005. Vol. 3 2005. p. 1669-1681.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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Wu AD, Johnson E, Proctor AA. Vision-aided inertial navigation for flight control. In Collection of Technical Papers - AIAA Guidance, Navigation, and Control Conference 2005. Vol. 3. 2005. p. 1669-1681