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