LPV systems with brief instabilities: Application to integrated vision/IMU navigation
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Authors
Hespanha, J.
Yakimenko, O.
Kaminer, I.
Pascoal, A.
Subjects
linear parametrically varying systems
hybrid systems
autonomous vehicles
non-linear observers
hybrid systems
autonomous vehicles
non-linear observers
Advisors
Date of Issue
2001
Date
Publisher
ECC
Language
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.
Type
Conference Paper
Description
Proceedings of the European Control Conference 2001
Series/Report No
Department
Organization
Naval Postgraduate School (U.S.)
Identifiers
NPS Report Number
Sponsors
Office of Naval Research
Funder
N0001497AF00002
Format
6 p.
Citation
Hespanha, J., et al. "LPV systems with brief instabilities: Application to integrated vision/IMU navigation." 2001 European Control Conference (ECC). IEEE, 2001.
Distribution Statement
Rights
This publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. Copyright protection is not available for this work in the United States.