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Combined Stereo Vision And Inertial Navigation For Automated Aerial Refueling, Daniel T. Johnson
Combined Stereo Vision And Inertial Navigation For Automated Aerial Refueling, Daniel T. Johnson
Theses and Dissertations
This paper describes the design of an EKF to obtain the precise relative position of two aircraft in a refueling maneuver while operating in GPS denied environments. The EKF uses the INS already present in both aircraft as well as the stereo camera system organic to new tanker systems. The aircraft trajectories are generated according to authentic refueling profiles with flight dynamics software and executed in a 3D virtual environment to enable deterministic simulation of the stereo camera system and to demonstrate the effectiveness of the combined system in a refueling scenario. Results show the system can achieve sufficient accuracy …