Guided-Airdrop Vision-Based Navigation

Dever, C.; Hamilton, Lei; Truax, Rob; Wholey, Leonard; Bergeron, Keith

doi:10.2514/6.2017-3723

Cited by 6 publications

(3 citation statements)

References 19 publications

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“…We use Draper's IBAL software [1] to perform TRN for our datasets. A database of image templates is created in advance from satellite imagery and stored using known pixel correspondence with the world frame.…”

Section: Terrain Relative Navigation Methodsmentioning

confidence: 99%

“…Dever et al [1] demonstrate visual navigation for guided parachute airdrops using IBAL and a Multi-State Constraint Kalman Filter (MSCKF). Additionally, the work incorporates a lost robot approach to recover from a diverged pose estimate and to initialize the system if the pose is unknown.…”

Section: Related Workmentioning

confidence: 99%

“…We use Draper's Image-Based Absolute Localization (IBAL) [1] software for our analysis. While our dataset has images at a rate of 20Hz, we subsample images by a factor of 10 and hence post-process images at 2Hz in real-time.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Vision-Based Terrain Relative Navigation on High Altitude Balloon and Sub-Orbital Rocket

Maggio

Mario

Streetman

et al. 2023

AIAA SCITECH 2023 Forum

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We present an experimental analysis on the use of a camera-based approach for highaltitude navigation by associating mapped landmarks from a satellite image database to camera images, and by leveraging inertial sensors between camera frames. We evaluate performance of both a sideways-tilted and downward-facing camera on data collected from a World View Enterprises high-altitude balloon with data beginning at an altitude of 33 km and descending to near ground level (4.5 km) with 1.5 hours of flight time. We demonstrate less than 290 meters of average position error over a trajectory of more than 150 kilometers. In addition to showing performance across a range of altitudes, we also demonstrate the robustness of the Terrain Relative Navigation (TRN) method to rapid rotations of the balloon, in some cases exceeding 20 • per second, and to camera obstructions caused by both cloud coverage and cords swaying underneath the balloon. Additionally, we evaluate performance on data collected by two cameras inside the capsule of Blue Origin's New Shepard rocket on payload flight NS-23, traveling at speeds up to 880 km/h, and demonstrate less than 55 meters of average position error.

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Section: Terrain Relative Navigation Methodsmentioning

confidence: 99%

Section: Related Workmentioning

confidence: 99%