Linear Parametrically Varying Systems with Brief Instabilities: An Application to Vision/Inertial Navigation
Author
Hespanha, João M.
Yakimenko, Oleg A.
Kaminer, Isaac I.
Pascoal, António M.
Date
2004-07Metadata
Show full item recordAbstract
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.
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.Collections
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