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Satellite and Vision-Aided Sensor Fusion for Cooperative navigation of Unmanned Aircraft Swarms

JOURNAL OF AEROSPACE INFORMATION SYSTEMS 2017年第6期14卷 327-344页

作者： Vetrella, Amedeo Rodi Fasano, Giancarmine Accardo, Domenico Univ Naples Federico II Dept Ind Engn Ple Tecchio 80 I-80125 Naples Italy

This paper presents a cooperative unmanned aerial vehicle navigation algorithm that allows a chief vehicle (equipped with inertial and magnetic sensors, a Global Positioning System receiver, and a vision system) to improve its navigation performance (in real time or in postprocessing phase), exploiting line-of-sight measurements from formation-flying deputies equipped with Global Positioning System receivers. The key concept is to integrate differential Global Positioning System and visual tracking information within a sensor fusion algorithm based on the extended Kalman filter. The developed concept and processing architecture are described, with a focus on the filtering algorithm. Then, flight-testing strategy and experimental results are presented. In particular, cooperative navigation output is compared with the estimates provided by the onboard autopilot system of a customized quadrotor. The analysis shows the potential of the developed approach, mainly deriving from the possibility to exploit accurate magnetic-and inertial-independent information.

关键词： Multisensor Fusion Unmanned Aircraft Swarms Satellites Differential Global Positioning System Extended Kalman Filter navigation Performance Micro Electro Mechanical Systems Quadrotor Flight Testing navigation algorithm

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Fast Self-Alignment Technology for Hybrid Inertial navigation Systems Based on a New Two-Position Analytic Method

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IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 2020年第4期67卷 3226-3235页

作者： Liu, Bingqi Wei, Shihui Lu, Jiazhen Wang, Jiping Su, Guohua High Tech Inst Xian Xian 710025 Peoples R China Beihang Univ Sch Instrumentat Sci & Optoelect Engn Beijing 100083 Peoples R China Beihang Univ Sch Instrumentat Sci & Optoelect Engn Beijing 100191 Peoples R China

Initial alignment technology is a key technology for inertial navigation systems (INSs) because the speed and accuracy of the initial alignment determine the working accuracy and rapid response capability of the INS. Thus, the initial alignment technique of an INS must be investigated. In a swaying base environment, traditional alignment methods cannot meet the requirements of alignment accuracy due to the occurrence of interference acceleration and angular velocity, and filtering methods do not perform well in practical and universal applications. This paper studies the self-alignment problem for the swaying base of a rotary strapdown inertial navigation system and uses the latest hybrid inertial navigation system (HINS) as the research platform. Using the double-position rotation strategy, a navigation algorithm based on an updated attitude transformation matrix and a dynamic error compensation algorithm are established, and they effectively resolve the fast and high-precision self-alignment problem of the rotary inertial navigation system (RINS) under the oscillating state. The accuracy and feasibility of the method are demonstrated by mathematical simulations. Experiments show that compared with traditional single-position and continuous-rotation alignment methods, the proposed dynamic self-alignment technology of HINS has the advantages of short alignment time, high alignment accuracy, and dynamic environment adaptability.

关键词： Dynamic error compensation hybrid inertial navigation navigation algorithm self-alignment

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Physarum solver:: A biologically inspired method of road-network navigation

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PHYSICA A-STATISTICAL MECHANICS AND ITS APPLICATIONS 2006年第1期363卷 115-119页

作者： Tero, A Kobayashi, R Nakagaki, T Hokkaido Univ Res Inst Elect Sci Sapporo Hokkaido 0600812 Japan Hiroshima Univ Dept Math & Life Sci Higashihiroshima 7398626 Japan Hokkaido Univ Creat Res Inst SOUSEI Sapporo Hokkaido 0010021 Japan

We have proposed a mathematical model for the adaptive dynamics of the transport network in an amoeba-like organism, the true slime mold Physarum polycephalum. The model is based on physiological observations of this species, but can also be used for path-finding in the complicated networks of mazes and road maps. In this paper, we describe the physiological basis and the formulation of the model, as well as the results of simulations of some complicated networks. The path-finding method used by Physarum is a good example of cellular computation. (c) 2006 Elsevier B.V. All rights reserved.

关键词： amoeboid movement navigation algorithm physarum polycephahum path-finding

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Aiding Angles-Only navigation with Illumination Telemetry to Resolve Weak Observability

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JOURNAL OF GUIDANCE CONTROL AND DYNAMICS 2023年第11期46卷 2110-2120页

作者： Stoker-Spirt, Eric T. NASA Goddard Space Flight Ctr Greenbelt MD 20771 USA Tact Space Syst Northrop Grumman GNC Engn 45101 Warp Dr Sterling VA 20166 USA

This paper introduces the discrete measurement transition update (DMTU), a reformulation of the Kalman filter measurement update that is capable of processing discrete data. DMTU is applied to illumination data onboard a spacecraft to create a new observable for space navigation systems. It is shown that combining this new observable with intersatellite angle measurements creates an autonomous navigation system (Angles and Illumination Data navigation [AIDnav]) capable of resolving the absolute orbits of both spacecraft. This novel navigation system is extremely low size, weight, and power, relying only on hardware already found on most spacecraft. It does not require cooperative spacecraft or more than one observer, nor does it require orbits or maneuvers that maximize observability. The performance of AIDnav is studied in a Monte Carlo simulation for a potential distributed Mars mission, and it is shown to be capable of determining an orbit with an average converged state error of 86 m and 7 cm/s. This method of navigation is viable for many different orbital regimes, but is ideal for ride-along interplanetary missions, which will always have a nearby target to observe and an external source of navigation before capturing into orbit at the destination central body.

关键词： Unscented Kalman Filter Orbit Determination Spacecraft navigation CubeSat Autonomous navigation System Mars Missions Interplanetary Spaceflight Distributed Space Systems navigation algorithm

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Outlier rejection for reducing position error in navigation system based on multi sensors

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MEASUREMENT & CONTROL 2023年第3-4期56卷 481-492页

作者： Ji, Dae-Hyeong Jeong, Sang-Ki Choi, Hyeung-Sik Lee, Jung-Han Ko, Sung-Hyub Hyeon, Jong-Wu Kim, Myung-Jun Korea Inst Ocean Sci & Technol Marine Secur & Safety Res Ctr Busan South Korea Korea Inst Ocean Sci & Technol Maritime ICT R&D Ctr 385 Haeyang Ro Busan 49111 South Korea Korea Maritime & Ocean Univ Dept Mech Engn Busan South Korea LIG Nex1 Co Ltd Maritime R&D Ctr Gyeonggi Do South Korea

A navigation system is critical for the operation of autonomous vehicles. Various sensors must be used to build navigation systems. To fuse multiple sensors, a highly advanced filter algorithm is required. navigation systems have difficulties in signal-degraded scenarios, where the navigation solution can be degraded by errors such as multipath and obscured signals. This paper proposes a navigation system using a technique to reject the outliers measured by sensors. The navigation system was designed to include sensor modeling, navigation filters, and outlier rejection. The sensors used in the navigation system are the accelerometer, gyroscope, magnetometer, and global positioning system. Before the experiment, a navigation simulation was performed to evaluate the results and validate the proposed navigation algorithm. The results of the experiment verified that the navigation system, including outlier rejection, had less positional error than that of the general navigation system.

关键词： navigation system autonomous vehicle navigation algorithm outlier rejection global positioning system

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APPROACH navigation FOR DELIVERY OF SMALL LANDERS TO THE SURFACE OF MARS

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JOURNAL OF GUIDANCE CONTROL AND DYNAMICS 1994年第1期17卷 116-122页

作者： HECHLER, M LAUER, M ESA European Space Operations Centre Darmstadt Germany

This paper presents the navigation analysis executed as part of the MARSNET phase A feasibility study. In the current mission baseline of MARSNET, several entry vehicles are assumed to be delivered to Mars by a common cruise spacecraft (multiprobe scenario). The achievable landing accuracy as a function of the different tracking types, and of the probe targeting and separation strategies, has been studied. In multiprobe and single probe mission scenarios landing accuracies of less than 100 km can be achieved using quasar-relative differential very long baseline Interferometry (Delta VLBI) ground tracking. By means of differential VLBI tracking of the approaching spacecraft relative to a spacecraft in orbit around Mars, this delivery error can be reduced to less than 30 km.

关键词： Very Long Baseline Interferometry Spacecraft Orbits Propellant Pericenter Earth Phobos S Band Orbit Determination navigation algorithm Ground Station

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Cooperative navigation Using Pairwise Communication with Ranging and Magnetic Anomaly Measurements

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JOURNAL OF AEROSPACE INFORMATION SYSTEMS 2020年第11期17卷 624-633页

作者： Yang, Chizhao Strader, Jared Gu, Yu Canciani, Aaron Brink, Kevin West Virginia Univ Dept Mech & Aerosp Engn Morgantown WV 26506 USA US Air Force Inst Technol Dept Elect Engn 2950 Hobson Way Wright Patterson AFB OH 45433 USA US Air Force Res Lab Bldg 13101 Eglin Blvd Eglin AFB FL 32547 USA

The problem of cooperative localization for a small group of unmanned aerial vehicles (UAVs) in a Global navigation Satellite System-denied environment is addressed in this paper. The presented approach contains two sequential steps: first, an algorithm called cooperative ranging localization, formulated as an extended Kalman filter, estimates each UAV's relative pose inside the group using intervehicle ranging measurements;second, an algorithm named cooperative magnetic localization, formulated as a particle filter, estimates each UAV's global pose through matching the group's magnetic anomaly measurements to a given magnetic anomaly map. In this study, each UAV is assumed to only perform a ranging measurement and data exchange with one other UAV at any point in time. A simulator is developed to evaluate the algorithms with magnetic anomaly maps acquired from airborne geophysical survey. The simulation results show that the average estimated position error of a group of 16 UAVs is approximately 20 m after flying about 180 km in 1 h. Sensitivity analysis shows that the algorithms can tolerate large variations of velocity, yaw rate, and magnetic anomaly measurement noises. Additionally, the UAV group shows improved position estimation robustness with both high- and low-resolution maps as more UAVs are added into the group.

关键词： UAV Extended Kalman Filter Yaw GNSS Sensitivity Analysis Monte Carlo Simulation Cumulative Distribution Function navigation Performance navigation algorithm Earth

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A specialized inclusive road dataset with elevation profiles for realistic pedestrian navigation using open geospatial data and deep learning

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COMPUTERS ENVIRONMENT AND URBAN SYSTEMS 2024年 114卷

作者： Hosseini, Reza Lim, Samsung Tong, Daoqin Sohn, Gunho Seyedabrishami, Seyedehsan Tarbiat Modares Univ Dept Remote Sensing & GIS Master Sci Tehran *** Iran Univ New South Wales Sch Civil & Environm Engn Sydney 2052 Australia Univ New South Wales Kirby Inst Biosecur Program Sydney 2052 Australia Arizona State Univ Sch Geog Sci & Urban Planning Tempe AZ 85287 USA York Univ Lassonde Sch Engn Dept Earth & Space Sci & Engn 4700 Keele St Toronto ON M3J 1P3 Canada Univ Sydney Sch Civil Engn Sydney NSW Australia

Built environment characteristics can greatly influence pedestrians' route choices with factors beyond distance, such as accessibility, convenience, safety, and aesthetics, playing crucial roles. Although current navigation apps, such as Google Maps and Waze, have successfully provided driving directions, their navigation services are insufficient and sometimes unrealistic for addressing pedestrians' needs, largely due to the lack of dedicated pedestrian networks and the associated navigation algorithms. To address the research gaps, this paper proposes a novel approach that integrates freely available geospatial data and computer vision technology to create a specialized inclusive network dataset for outdoor pedestrian navigation. Moreover, a pedestrian navigation algorithm is developed to generate more practical "shortest" and "alternative" paths by incorporating various sidewalk attributes. We applied the method to create a pedestrian navigation network in Las Vegas. SpaceNet's open imagery dataset was used to extract Las Vegas's road networks. A virtual audit process assessed the visual and operational properties of the sidewalk networks using Google street-level images, evaluating factors including sidewalk presence, widths, surface types and conditions, missing curb ramps, greenery, protection from weather conditions, and lighting. Google Earth's open elevation data were used to analyze road elevation profiles as meaningful 3D indicators of sidewalk accessibility for wheelchair users. Further, additional geometric properties of the network, including road curviness, proximity to road intersections, and directional changes, were detected and analyzed. A navigation experiment conducted with individuals having varying mobility abilities, including regular pedestrians, older adults, and wheelchair users demonstrated the effectiveness of the newly developed network and algorithm in meeting the diverse needs of pedestrians.

关键词： Sidewalk infrastructure Pedestrian navigation Network dataset navigation algorithm Open geospatial data Deep learning

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Autonomous UAV navigation in GPS denied environments using Lidar Point Clouds

Autonomous UAV navigation in GPS denied environments using L...

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AIAA Aviation Forum

作者： Briggs, Michael M. Castano, Lina M. Morgan, Eric Axient LLC Huntsville AL 35806 USA Axient LLC IR&D Huntsville AL 35806 USA Axient LLC Growth Integrated Force Syst Huntsville AL 35806 USA

ISBN: (数字)9781624107047

ISBN: (纸本)9781624107047

This work describes an algorithm for GPS denied navigation which uses AI-based pattern matching with Feature-Augmented Terrain Referenced navigation. sUAS-borne radial-scan LiDAR can be used to generate a local high-spatial-resolution point-cloud (LPC) elevation map. This map is then used for onboard/real-time registration to a hybrid elevation map, that integrates high- resolution feature point clouds with lower-resolution terrain elevation maps. This enables geographic location and altitude of the sUAS as measurements for the navigation filter. GPS denied features are then incorporated into autonomous navigation framework.

关键词： LIDAR sensor Autonomous navigation Metadata Unscented Kalman Filter Artificial Intelligence Ground Station Earth Simultaneous Localization and Mapping PX4 Autopilot navigation algorithm

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Angles-Only navigation to a Noncooperative Satellite Using Relative Orbital Elements

Angles-Only Navigation to a Noncooperative Satellite Using R...

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AIAA/AAS Astrodynamics Specialist Conference

作者： Gaias, G. D'Amico, S. Ardaens, J. -S. German Aerosp Ctr DLR D-82234 Wessling Germany

ISBN: (数字)9781624101823

ISBN: (纸本)9781624101823

This work addresses the design and implementation of a prototype relative navigation tool that uses camera-based measurements collected by a servicer spacecraft to perform far-range rendezvous with a noncooperative client in low Earth orbit. The development serves the needs of future on-orbit servicing missions planned by the German Aerospace Center. The focus of the paper is on the design of the navigation algorithms and the assessment of the expected performance and robustness under real-world operational scenarios. The tool validation is accomplished through a high-fidelity simulation environment based on the Multi Satellite Simulator in combination with the experience gained from actual flight data from the GPS and camera systems onboard the Prototype Research Instruments and Space Mission Technology Advancement mission.

关键词： Satellites Orbital Elements Flight Data German Aerospace Center navigation algorithm Orbit Determination Argument of Latitude Observability Gramian Earth Orbital Rendezvous

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