NDLI: Integrated vision/inertial navigation system design using nonlinear filtering

Content Provider	IEEE Xplore Digital Library
Author	Kaminer, I. Pascoal, A. Wei Kang
Copyright Year	1999
Description	Author affiliation: Dept. of Aeronaut. & Astronaut. Eng., Naval Postgraduate Sch., Monterey, CA, USA (Kaminer, I.)
Abstract	Addresses the problem of navigation system design for autonomous aircraft landing. New nonlinear filter structures are introduced to estimate the position of an aircraft with respect to a possibly moving landing site, such as a naval vessel, based on measurements provided by airborne vision and inertial sensors. By exploring the geometry of the navigation problem, the navigation filter dynamics are cast in the framework of linear parametrically varying systems (LPVs). Using this set-up, filter performance and stability are studied in an H/sub /spl infin// setting by resorting to the theory of linear matrix inequalities (LMIs). The design of nonlinear, globally stable filters to meet adequate H/sub /spl infin// performance measures is thus converted into that of determining the feasibility of a related set of LMIs and finding a solution to them, if it exists. This is done by resorting to widely available numerical tools that borrow from convex optimization techniques. The paper develops the mathematical framework that is required for integrated vision/inertial navigation system design and details a design example for an air vehicle landing on an aircraft carrier.
Starting Page	1910
Ending Page	1914
File Size	481787
Page Count	5
File Format	PDF
ISBN	0780349903
ISSN	07431619
DOI	10.1109/ACC.1999.786185
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1999-06-02
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	American Automatic Control Council(AACC)
Subject Keyword	Inertial navigation Aircraft navigation Nonlinear filters Position measurement Geometry Motion planning Vehicle dynamics Filtering theory Stability Linear matrix inequalities
Content Type	Text
Resource Type	Article
Subject	Electrical and Electronic Engineering

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