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Proceedings Paper

Purely optical navigation with model-based state prediction
Author(s): Alexander Sendobry; Thorsten Graber; Uwe Klingauf
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Paper Abstract

State-of-the-art Inertial Navigation Systems (INS) based on Micro-Electro-Mechanical Systems (MEMS) have a lack of precision especially in GPS denied environments like urban canyons or in pure indoor missions. The proposed Optical Navigation System (ONS) provides bias free ego-motion estimates using triple redundant sensor information. In combination with a model based state prediction our system is able to estimate velocity, position and attitude of an arbitrary aircraft. Simulating a high performance flow-field estimator the algorithm can compete with conventional low-cost INS. By using measured velocities instead of accelerations the system states drift behavior is not as distinctive as for an INS.

Paper Details

Date Published: 28 October 2010
PDF: 9 pages
Proc. SPIE 7833, Unmanned/Unattended Sensors and Sensor Networks VII, 78330Q (28 October 2010); doi: 10.1117/12.864686
Show Author Affiliations
Alexander Sendobry, Technische Univ. Darmstadt (Germany)
Thorsten Graber, Technische Univ. Darmstadt (Germany)
Uwe Klingauf, Technische Univ. Darmstadt (Germany)


Published in SPIE Proceedings Vol. 7833:
Unmanned/Unattended Sensors and Sensor Networks VII
Edward M. Carapezza, Editor(s)

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