Application of nonlinear filtering to navigation system design using nonlinear passive sensors

Addresses the problem of navigation system design for autonomous aircraft landing. Nonlinear filter structures are introduced to estimate the position of an aircraft with respect to a possibly moving landing site, such as a naval vessel, based on measurements provided by airborne vision and inertial sensors. Original results that address this problem are presented in Kaminer et al. (1999). In this paper these results are extended to include stereo vision. A detailed example that illustrates the use of the filters is also included