Accession Number : ADA582229


Title :   Inertial Navigation System Aiding Using Vision


Descriptive Note : Master's thesis


Corporate Author : AIR FORCE INST OF TECH WRIGHT-PATTERSON AFB OH GRADUATE SCHOOL OF ENGINEERING AND MANAGEMENT


Personal Author(s) : Quarmyne, James O


Full Text : https://apps.dtic.mil/dtic/tr/fulltext/u2/a582229.pdf


Report Date : Mar 2013


Pagination or Media Count : 90


Abstract : The aiding of an INS using measurements over time of the line of sight of ground features as they come into view of an onboard camera is investigated. The objective is to quantify the reduction in the navigation states' errors by using bearings-only measurements over time of terrain features in the aircraft's field of view. INS aiding is achieved through the use of a Kalman Filter. The design of the Kalman Filter is presented and it is shown that during a long range, wings level cruising flight at constant velocity and altitude, a 90% reduction in the aided INS-calculated navigation state errors compared to a free INS, is possible.


Descriptors :   *INERTIAL NAVIGATION , *INERTIAL SYSTEMS , *VISUAL AIDS , ALTITUDE , CAMERAS , KALMAN FILTERING , LINE OF SIGHT , ONBOARD , VELOCITY


Subject Categories : Humanities and History
      Statistics and Probability
      Navigation and Guidance


Distribution Statement : APPROVED FOR PUBLIC RELEASE