_relative-navigation-of-fixed-wing-aircraft-in-gps-denied-environments.jpg "Relative navigation of fixed-wing aircraft in GPS-denied environments from ekf Video Screenshot Preview")
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⏲ Duration: 34 min 58 sec
✓ Published: 23-Oct-2020
✓ Published: 23-Oct-2020
Description:
This work enables GPS-denied flight on fixed-wing UAS by accounting for fixed-wing-specific sensing requirements and using a methodology called relative navigation as an overarching framework. The development of an odometry-like, front-end, EKF-based estimator that utilizes only a monocular camera and an inertial measurement unit (IMU) is presented. The filter uses the measurement model of the multi-state-constraint Kalman filter. The filter also regularly resets its origin in coordination with
This work enables GPS-denied flight on fixed-wing UAS by accounting for fixed-wing-specific sensing requirements and using a methodology called relative navigation as an overarching framework. The development of an odometry-like, front-end, EKF-based estimator that utilizes only a monocular camera and an inertial measurement unit (IMU) is presented. The filter uses the measurement model of the multi-state-constraint Kalman filter. The filter also regularly resets its origin in coordination with
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