Visual INS Using a Human Operator and Converted Measurements
Technical Report,01 Sep 2014,24 Mar 2016
AIR FORCE INSTITUTE OF TECHNOLOGY WRIGHT-PATTERSON AFB OH WRIGHT-PATTERSON AFB United States
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A method human operated INS aiding is explored in which the pilot identifies and tracks a ground feature of unknown position over a short measurement epoch using an EO sensor. One then refers to Visual-INS. In contrast to current research trends, a human operator is entrusted with visually tracking the ground feature. In addition, a less conventional measurement linearization technique is applied to generate converted measurements. A linear regression algorithm is then applied to the converted measurements providing an estimate of the INS horizontal velocity error and accelerometer biases. At the completion of the measurement epoch, the INS is corrected by subtracting out the estimated errors. Aiding the INS in this manner provides a significant improvement in the accuracy of the INS-provided aircraft navigation state estimates when compared to those of a freeunaided INS. A number of scenario are simulated including with and without a constrained ight path, with single vs. multiple ground feature tracking sessions, and with a navigation vs. tactical grade INS. Applications for this autonomous navigation approach include navigation in GPS denied environments andor when RF emittingreceiving sensors are undesirable.
- Target Direction, Range and Position Finding
- Navigation and Guidance