DocumentCode :
2208871
Title :
Sensor fusion for GNSS denied navigation
Author :
Krishnaswamy, Kailash ; Susca, Sara ; McCroskey, Rob ; Seiler, Pete ; Lukas, Jan ; Kotaba, Ondrej ; Bageshwar, Vibhor ; Ganguli, Subhabrata
Author_Institution :
Honeywell Adv. Technol., Minneapolis, MN
fYear :
2008
fDate :
5-8 May 2008
Firstpage :
541
Lastpage :
551
Abstract :
We present technologies that are being developed to address the need for a navigation solution in the absence of Global Navigation Satellite Systems (GNSS) measurements. The navigation system uses sensors such as vision systems, RADARS and LIDARS with feature extraction, matching and motion estimation algorithms. We present experimental results of using scale invariant feature transform, speeded up robust features, and modified Harris feature extraction algorithms and compare the performance. We also present methods to extract lines and planes that can aid in navigation. For motion estimation we present results for visual odometry as well as simultaneous localization and mapping navigation. We experimentally verify the algorithms in both a realtime Linux framework as well as offline. We also present ongoing work in vision integrated navigation in an attitude and heading reference system as well as an extended Kalman filter framework. All the methods we present in this paper are incremental navigation methods.
Keywords :
Kalman filters; feature extraction; motion estimation; satellite navigation; sensor fusion; GNSS denied navigation; Linux; attitude and heading reference system; extended Kalman filter; global navigation satellite systems; modified Harris feature extraction algorithms; motion estimation; scale invariant feature transform; sensor fusion; simultaneous localization and mapping navigation; speeded up robust features; vision integrated navigation; visual odometry; Feature extraction; Global Positioning System; Laser radar; Machine vision; Motion estimation; Robustness; Satellite navigation systems; Sensor fusion; Sensor systems; Spaceborne radar;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Position, Location and Navigation Symposium, 2008 IEEE/ION
Conference_Location :
Monterey, CA
Print_ISBN :
978-1-4244-1536-6
Electronic_ISBN :
978-1-4244-1537-3
Type :
conf
DOI :
10.1109/PLANS.2008.4570062
Filename :
4570062
Link To Document :
بازگشت