Publication:
Linear Parametrically Varying Systems with Brief Instabilities: An Application to Vision/Inertial Navigation

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Authors
Hespanha, João M.
Yakimenko, Oleg A.
Kaminer, Isaac I.
Pascoal, António M.
Subjects
Advisors
Date of Issue
2004-07
Date
July 2004
Publisher
IEEE
Language
Abstract
This paper addresses the problem of nonlinear filter design to estimate the relative position and velocity of an unmanned air vehicle (UAV) with respect to a point on a ship using infrared (IR) vision, inertial, and air data sensors. Sufficient conditions are derived for the existence of a particular type of complementary filters with guaranteed stability and performance in the presence of so-called out-of-frame events that arise when the vision system loses its target temporarily. The results obtained build upon new developments in the theory of linear parametrically varying systems (LPVs) with brief instabilities–also reported in the paper–and provide the proper framework to deal with out-of-frame events. Field tests with a prototype UAV illustrate the performance of the filter and the scope of applications of the new theory developed.
Type
Article
Description
Series/Report No
Department
Other Units
Naval Postgraduate School (U.S.)
Identifiers
NPS Report Number
Sponsors
Funder
Office of Naval Research under Contract N0001497AF00002
National Science Foundation under Grants CCR-0311084 and ECS-0093762
Portugese FCT POSI program under framework QCA III
Format
14 p.
Citation
IEEE TRANSACTIONS ON AEROSPACE AND ELECTRONIC SYSTEMS VOL. 40, NO. 3 JULY 2004
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.
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