Title :
Multirate and event driven Kalman filters for helicopter passive ranging
Author :
Sridhar, B. ; Smith, P. ; Suorsa, R. ; Hussien, B.
Author_Institution :
NASA Ames Res. Center, Moffett Field, CA, USA
Abstract :
The use of passive range estimation methods for helicopters equipped with a single camera and an inertial navigation system is described. It is shown that the same level of estimation accuracy can be maintained by using multirate and event-driven Kalman filters as with a standard Kalman filter, resulting in a substantial reduction in the amount of computation. These results are based on helicopter flight test images. The actual savings will depend on the details of the implementation
Keywords :
Kalman filters; aircraft control; computer vision; helicopters; inertial navigation; motion estimation; computer vision; event driven Kalman filters; helicopter; inertial navigation; multirate Kalman filters; optical flow; passive range estimation; Fluid flow measurement; Helicopters; Image motion analysis; Image sensors; Layout; NASA; Object detection; Optical computing; Optical filters; Optical sensors;
Conference_Titel :
Control Applications, 1992., First IEEE Conference on
Conference_Location :
Dayton, OH
Print_ISBN :
0-7803-0047-5
DOI :
10.1109/CCA.1992.269745
