Performance of Integrated Electro-Optical Navigation Systems

Hoshizaki, T.; Andrisani, Dominick; Braun, Aaron; Mulyana, A. K.; Bethel, James

doi:10.1002/j.2161-4296.2004.tb00344.x

Cited by 11 publications

(13 citation statements)

References 25 publications

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“…While most existing approaches are only loosely coupled with odometery, an integration of 2D laser scans with GPS in the range-domain (generally referred to as tight coupling) is reported in [10]. Tight coupling of GPS, INS and an electro optical (EO) sensor is reported in [11].…”

Section: Figure 1 Navigation Of a Uav In An Urban Environmentmentioning

confidence: 99%

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Tightly-Integrated LADAR/INS Algorithm Development to Support Urban Operations

Haag¹,

Zhu²,

Soloviev³

et al. 2009

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REPORT DOCUMENTATION PAGEPublic reporting burden for this collection of information is estimated to average 1 hour per response, including the time for reviewing instructions. data needed, and completing and reviewing this collection of information. Send comments regarding this burden estimate or any other aspect of this collection of information, including suggestions for reducing this burden to Department of Defense. Washington Headquarters Services. Directorate for Information . 1215 Jefferson Daws Highway. Suite 1204, Arlington. VA 22202-4302 Respondents should be aware that notwithstanding any other provision of law. no person shall be subject to any penalty for failing to comply with a collection of information if it does not display a currently valid OMB control number PLEASE DO NOT RETURN YOUR FORM TO THE ABOVE ADDRESS. .^r/n SrrP? y-cr^. REPORT DATE (DD-MM-YYYY) UTILITY STATEMENT / SPONSOR/MONITOR'S ACRONYM(S) SPONSOR/MONITOR'S REPORT NUMBER(S) 127-DISTRIBUTION / AVAILABILITY STATEMENT Public SUPPLEMENTARY NOTES 14.ABSTRACTThere is a need to provide our forces with a much-needed navigation capability for operations in urban environments where GPS is not available due to shielding, excessive errors due to multipath and the proliferation of new GPS jamming techniques. Accurate and precise pervasive positioning is one of the key enablers for urban warfare. This capability is crucial in placing the right sensor on the right target at the right time in a multi-sensor/platform system. This capability is also needed for sensor cross-cueing, which is essential to integrated operation and optimal use of resources and will be a game changer for urban operations. The proposed method consists of a tightly integrated Laser radar (LADAR) and Inertial sensor to achieve positioning at the sub-meter level in addition to attitude determination and obstacle avoidance. The tight integration enables high performance feature extraction and association, not possible with prior LADAR systems. The proposed system can work with partial map and no map information.In year 2 of this effort we extended the 2D LADAR/INS mechanization for urban position and heading determination of year l to three dimensions (3D), further developed the algorithms for integrity calculation using LADAR/INS integration, and setup the data collection system on a four-rotor UAV for algorithm validation purposes. SUBJECT TERMSTightly-Integrated Ladar; Navigation capability for operations in urban environments; AbstractThere is a need to provide our forces with a much-needed navigation capability for operations in urban environments where the Global Positioning System (GPS) is not available due to shielding, excessive errors due to multipath and the proliferation of new GPS jamming techniques. Accurate and precise pervasive positioning is one of the key enablers for urban warfare. This capability is crucial in placing the right sensor on the right target at the right time in a multi-sensor/platform system. This capability is also needed for sensor cross-cue...

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Section: Figure 1 Navigation Of a Uav In An Urban Environmentmentioning

confidence: 99%

“…To estimate the rotation matrix, a minimum of two non-parallel planar surfaces is required. It can be shown that equation (10) results in the least squares estimate of C^k* ) l) .…”

Section: Cfcy(t K )-N(t W ) (8)mentioning

confidence: 99%

Tightly-Integrated LADAR/INS Algorithm Development to Support Urban Operations

Haag¹,

Zhu²,

Soloviev³

et al. 2009

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“…Rather scarce investigations concerning image processing are focussed only on automation of the process of keeping the ship along the water path axis, on line towards a navigation mark, in a given navigation light sector, assessment of accuracy in determining navigational parameters by using CCD camera as well as optical methods for anti-terroristic protection of ships [2,3,4,5,6,7,9,10,13].…”

Section: Introductionmentioning

confidence: 99%

Electronic Navigational Chart as an Equivalent to Image Produced by Hypercatadioptric Camera System

Naus

2015

Polish Maritime Research

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“…The processes described here complement the work of other groups developing navigational systems based on processed imagery. The authors' research group currently is researching automated imagery-based navigation system for vessels sailing along a track or a coastline (Hoshizaki et al, 2004;Snyder et al, 2004;Ryynanen et al, 2007).…”

Section: Introductionmentioning

confidence: 99%

Precision in Determining Ship Position using the Method of Comparing an Omnidirectional Map to a Visual Shoreline Image

Naus

Wąż

2015

J. Navigation

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This paper summarises research that evaluates the precision of determining a ship's position by comparing an omnidirectional map to a visual image of the coastline. The first part of the paper describes the equipment and associated software employed in obtaining such estimates. The system uses a spherical catadioptric camera to collect positional data that is analysed by comparing it to spherical images from a digital navigational chart. Methods of collecting positional data from a ship are described, and the algorithms used to determine the statistical precision of such position estimates are explained. The second section analyses the results of research to determine the precision of position estimates based on this system. It focuses on average error values and distance fluctuations of position estimates from referential positions, and describes the primary factors influencing the correlation between spherical map images and coastline visual images.2. Electronic Navigational Chart. 3. Spherical catadioptric camera system.

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Performance of Integrated Electro-Optical Navigation Systems

Cited by 11 publications

References 25 publications

Tightly-Integrated LADAR/INS Algorithm Development to Support Urban Operations

Tightly-Integrated LADAR/INS Algorithm Development to Support Urban Operations

Electronic Navigational Chart as an Equivalent to Image Produced by Hypercatadioptric Camera System

Precision in Determining Ship Position using the Method of Comparing an Omnidirectional Map to a Visual Shoreline Image

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