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논문 기본 정보
- 자료유형
- 학술저널
- 저자정보
- 저널정보
- 한국항공우주학회 International Journal of Aeronautical and Space Sciences International Journal of Aeronautical and Space Sciences Volume.14 Number.4
- 발행연도
- 2013.12
- 수록면
- 369 - 378 (10page)
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이 논문의 연구 히스토리 (2)
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초록· 키워드
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This paper presents a vision/LiDAR integrated navigation system that provides accurate relative navigation performance on a general ground surface, in GNSS-denied environments. The considered ground surface during flight is approximated as a piecewise continuous model, with flat and slope surface profiles. In its implementation, the presented system consists of a strapdown IMU, and an aided sensor block, consisting of a vision sensor and a LiDAR on a stabilized gimbal platform. Thus, two-dimensional optical flow vectors from the vision sensor, and range information from LiDAR to ground are used to overcome the performance limit of the tactical grade inertial navigation solution without GNSS signal. In filter realization, the INS error model is employed, with measurement vectors containing two-dimensional velocity errors, and one differenced altitude in the navigation frame. In computing the altitude difference, the ground slope angle is estimated in a novel way, through two bisectional LiDAR signals, with a practical assumption representing a general ground profile. Finally, the overall integrated system is implemented, based on the extended Kalman filter framework, and the performance is demonstrated through a simulation study, with an aircraft flight trajectory scenario.
목차
Abstract
1. Introduction
2. System Illustration
3. Integrated Navigation System
4. Simulations
5. Conclusions
References
참고문헌 (20)
참고문헌 신청
1. [학술대회논문] - C. Becker / 1995 / Reliable Navigation Using Landmarks / Proceedings of IEEE International Conference on Robotics and Automation 1 : 401 ~ 406
2. [학술대회논문] - C. S. Sharp / 2001 / A Vision System for Landing an Unmanned Aerial Vehicle / Proceedings of IEEE International Conference on Robotics and Automation 2 : 1720 ~ 1727
3. [학술대회논문] - L. S. Coelho / 1999 / Pose Estimation of Autonomous Dirigibles Using Artificial Landmarks / Proceedings of IEEE International Conference on Robotics and Automation : 161 ~ 170
4. [학술지(정기간행물)] - H. Durrant-Whyte / 2006 / Simultaneous Localization and Mapping: Part I / IEEE Robotics & Automation Magazine 13 (2) : 99 ~ 110
5. [학술지(정기간행물)] - T. Bailey / 2006 / Simultaneous Localization and Mapping (SLAM): Part II / IEEE Robotics & Automation Magazine 13 (3) : 108 ~ 117
2. [학술대회논문] - C. S. Sharp / 2001 / A Vision System for Landing an Unmanned Aerial Vehicle / Proceedings of IEEE International Conference on Robotics and Automation 2 : 1720 ~ 1727
3. [학술대회논문] - L. S. Coelho / 1999 / Pose Estimation of Autonomous Dirigibles Using Artificial Landmarks / Proceedings of IEEE International Conference on Robotics and Automation : 161 ~ 170
4. [학술지(정기간행물)] - H. Durrant-Whyte / 2006 / Simultaneous Localization and Mapping: Part I / IEEE Robotics & Automation Magazine 13 (2) : 99 ~ 110
5. [학술지(정기간행물)] - T. Bailey / 2006 / Simultaneous Localization and Mapping (SLAM): Part II / IEEE Robotics & Automation Magazine 13 (3) : 108 ~ 117
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