DocumentCode :
697653
Title :
LPV systems with brief instabilities: Application to integrated vision/IMU navigation
Author :
Hespanha, J. ; Yakimenko, O. ; Kaminer, I. ; Pascoal, A.
Author_Institution :
Univ. of Southern California, Los Angeles, CA, USA
fYear :
2001
fDate :
4-7 Sept. 2001
Firstpage :
3810
Lastpage :
3815
Abstract :
This paper describes an application of recently developed results on linear parametrically varying systems (LPVs) with brief instabilities reported in [3] to the problem of designing a nonlinear vision/inertial navigation filter for an aircraft approaching an aircraft carrier is included. The results developed provide the proper framework to deal with out-of-frame events that arise when the vision system loses its target temporarily. Field tests with a prototype unmanned air vehicle illustrate the performance of the filter and illustrate the scope of applications of the new theory.
Keywords :
aircraft control; aircraft navigation; autonomous aerial vehicles; inertial navigation; linear parameter varying systems; stability; LPV systems; aircraft carrier; field tests; instabilities; integrated vision-IMU navigation; linear parameter varying systems; nonlinear vision-inertial navigation filter; out-of-frame events; prototype unmanned air vehicle; Decision support systems; Electronic mail; Europe; Facsimile; Filtering; Marine vehicles; Vectors; autonomous vehicles; hybrid systems; linear parametrically varying systems; non-linear observers;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Control Conference (ECC), 2001 European
Conference_Location :
Porto
Print_ISBN :
978-3-9524173-6-2
Type :
conf
Filename :
7076528
Link To Document :
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