Purely optical navigation with model-based state prediction

Alexander Sendobry; Thorsten Graber; Uwe Klingauf

doi:10.1117/12.864686

27 October 2010 Purely optical navigation with model-based state prediction

Alexander Sendobry, Thorsten Graber, Uwe Klingauf

Proceedings Volume 7833, Unmanned/Unattended Sensors and Sensor Networks VII; 78330Q (2010) https://doi.org/10.1117/12.864686
Event: SPIE Security + Defence, 2010, Toulouse, France

Abstract

State-of-the-art Inertial Navigation Systems (INS) based on Micro-Electro-Mechanical Systems (MEMS) have a lack of precision especially in GPS denied environments like urban canyons or in pure indoor missions. The proposed Optical Navigation System (ONS) provides bias free ego-motion estimates using triple redundant sensor information. In combination with a model based state prediction our system is able to estimate velocity, position and attitude of an arbitrary aircraft. Simulating a high performance flow-field estimator the algorithm can compete with conventional low-cost INS. By using measured velocities instead of accelerations the system states drift behavior is not as distinctive as for an INS.

Citation Download Citation

Alexander Sendobry, Thorsten Graber, and Uwe Klingauf "Purely optical navigation with model-based state prediction", Proc. SPIE 7833, Unmanned/Unattended Sensors and Sensor Networks VII, 78330Q (27 October 2010); https://doi.org/10.1117/12.864686

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