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ICNPAA 2004: Mathematical Problems in Engineering and Aerospace Sciences
June 2-4, 2004
The West University of Timisoara
Timisoara, Romania

Organizers
Conference Organizer and Chair: Seenith Sivasundaram

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Optical Flow for INS Aiding
by
M. Pachter
Dept. of Electrical Enginering, Air force institute of Technology, AFIT/ENG, 2950 Hobson Drive, Bldg. 640, Wright-Patterson AFb, OH, 45433, USA
Coauthors: Alec Porter

The theory behind Inertial Navigation System (INS) aiding using optical flow is developed. Passive, bearings-only measurements over time of an unknown ground object(s) are taken. It is shown that it is possible to estimate the aircraft's ground speed, resolved in the body axes frame of reference. Thus, measurements of the aircraft's ``angle of attack", ``side-slip angle", and velocity, are obtained. These measurements are used to aid the INS. Using the synergy of INS and optical flow measurement, a powerful autonomous navigation algorithm is developed.

Numerical experimentation and simulation are used to validate the theory.

Date received: January 8, 2004

Copyright © 2004 by the author(s). The author(s) of this document and the organizers of the conference have granted their consent to include this abstract in Atlas Conferences Inc. Document # cakt-21.