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High-integrity navigation for sensor-based 3D world modeling
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Paper Abstract

There is emerging demand for multi-ship sensor-based 3D world modeling (3DWM) for providing safe flight guidance in degraded visual environments (DVE). For illustration, we consider the leader-follower scenario, where the leader platform has the perception sensor suite (e.g., LIDAR, RADAR, Optical Structure from Motion (SfM)) used to create a dynamic 3DWM, depicting objects in the environment. The 3DWM is then distributed to the follower platform, for use in pilot cueing in DVE to avoid obstacles or for pilot workload reduction. Leader navigation state errors can cause inaccurate placement of free/occupied space in the common mapping frame, which can lead to a safety-critical failure to avoid obstacles. To ensure safe obstacle avoidance, an overbound on the leader’s navigation errors relative to the common mapping frame must be known with high confidence. A similar overbound must also be established for the follower vehicle. To support this need for high-integrity navigation, this paper adapts existing high-integrity navigation standards as a framework for this scenario. Based on this framework, a sample error decomposition is performed. Potential navigation solutions that meet these example requirements are defined. Finally, modifications needed to the 3DWM measurement update process to accurately represent navigation uncertainty in the 3DWM are highlighted.

Paper Details

Date Published: 1 May 2019
PDF: 19 pages
Proc. SPIE 11019, Situation Awareness in Degraded Environments 2019, 110190M (1 May 2019); doi: 10.1117/12.2518465
Show Author Affiliations
Vladislav Gavrilets, Rockwell Collins, Inc. (United States)
Chris Boggs, Rockwell Collins, Inc. (United States)
Max Taylor, Rockwell Collins, Inc. (United States)


Published in SPIE Proceedings Vol. 11019:
Situation Awareness in Degraded Environments 2019
John (Jack) N. Sanders-Reed; Jarvis (Trey) J. Arthur III, Editor(s)

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