An algorithm, combining velocity/height estimates, obtained from an airborne body fixed image shift estimator with auxiliary on-board measurements and sparsely stored terrain profile information constitutes an entirely passive autonomous navigation system suitable for moderate-g flight missions. Two versions are addressed. The "naive estimator," in which altitude estimates are multiplied by velocity/height estimaters, yields ground velocity. Position, obtained by integration, diverges with time. The "extended Kalman filter" (EKF) version, in which velocity and position are defined as state space components, locks on the stored terrain profile and does not diverge with time. It degenerates into the "naive estimator" if the terrain is completely flat. Numerical examples indicate excellent performance potential of the EKF estimator.
On-line Vehicle Motion Estimation from Visual Terrain Information Part II: Ground Velocity and Position Estimation
IEEE Transactions on Aerospace and Electronic Systems ; AES-22 , 5 ; 588-604
01.09.1986
2941879 byte
Aufsatz (Zeitschrift)
Elektronische Ressource
Englisch
Visual Motion Estimation and Terrain Modeling for Planetary Rovers
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