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Relative Navigation Of Autonomous Gps-Degraded Micro Air Vehicles, David O. Wheeler, Daniel P. Koch, James S. Jackson, Gary J. Ellingson, Paul W. Nyholm, Timothy W. Mclain, Randal W. Beard
Relative Navigation Of Autonomous Gps-Degraded Micro Air Vehicles, David O. Wheeler, Daniel P. Koch, James S. Jackson, Gary J. Ellingson, Paul W. Nyholm, Timothy W. Mclain, Randal W. Beard
Faculty Publications
Many current approaches for navigation of micro air vehicles (MAVs) in GPS-degraded environments use a globally-referenced state for estimation and control, even though this state is not observable when GPS is unavailable. By working with respect to a local reference frame, the relative navigation (RN) framework presented in this paper ensures that the state maintains observability and that the uncertainty remains bounded, consistent, and normally-distributed. RN further insulates flight-critical estimation and control processes from the large global updates common in GPS-degraded MAV flight. This paper provides a thorough description of the details needed to successfully implement the RN framework on …
Relative Multiplicative Extended Kalman Filter For Observable Gps-Denied Navigation, Daniel P. Koch, David O. Wheeler, Randal Beard, Tim Mclain, Kevin M. Brink
Relative Multiplicative Extended Kalman Filter For Observable Gps-Denied Navigation, Daniel P. Koch, David O. Wheeler, Randal Beard, Tim Mclain, Kevin M. Brink
Faculty Publications
This work presents a multiplicative extended Kalman filter for estimating the relative state of a multirotor vehicle operating in a GPS-denied environment. The filter fuses data from an inertial measurement unit and altimeter with relative-pose updates from a keyframe-based visual odometry or laser scan-matching algorithm. Because the global position and heading states of the vehicle are unobservable in the absence of global measurements such as GPS, the filter in this paper estimates the state with respect to a local frame that is colocated with the odometry keyframe. As a result, the odometry update provides nearly-direct measurements of the relative vehicle …