Tightly-Integrated LADAR/INS Algorithm Development to Support Urban Operations
Final rept. 12 Jan 2007-30 Nov 2008
OHIO UNIV ATHENS AVIONICS ENGINEERING CENTER
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There is a need to provide our forces with a much-needed navigation capability for operations in urban environments where GPS is not available due to shielding, excessive errors due to multipath and the proliferation of new GPS jamming techniques. Accurate and precise pervasive positioning is one of the key enablers for urban warfare. This capability is crucial in placing the right sensor on the right target at the right time in a multi-sensorplatform system. This capability is also needed for sensor cross-cueing, which is essential to integrated operation and optimal use of resources and will be a game changer for urban operations. The proposed method consists of a tightly integrated Laser radar LADAR and Inertial sensor to achieve positioning at the sub-meter level in addition to attitude determination and obstacle avoidance. The tight integration enables high performance feature extraction and association, not possible with prior LADAR systems. The proposed system can work with partial map and no map information. In year 2 of this effort we extended the 2D LADARINS mechanization for urban position and heading determination of year 1 to three dimensions 3D, further developed the algorithms for integrity calculation using LADARINS integration, and setup the data collection system on a four-rotor UAV for algorithm validation purposes.
- Optical Detection and Detectors