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Accession Number ADA582229
Title Inertial Navigation System Aiding Using Vision.
Publication Date Mar 2013
Media Count 90p
Personal Author J. O. Quarmyne
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.
Keywords Altitude
Bearings only measurements
Inertial navigation
Inertial navigation system aiding
Inertial systems
Ins(Inertial navigation system)
Kalman filtering
Line of sight
Slam(Simultaneous localization and mapping)
Visual aids

Source Agency Non Paid ADAS
NTIS Subject Category 92D - Education, Law, & Humanities
72F - Statistical Analysis
76D - Navigation Systems
Corporate Author Air Force Inst. of Tech., Wright-Patterson AFB, OH. Graduate School of Engineering and Management.
Document Type Thesis
Title Note Master's thesis.
NTIS Issue Number 1326
Contract Number N/A

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