Vision and Inertial Sensor Fusion for Terrain Relative Navigation

Verras, Andrew; Eapen, Roshan Thomas; Simon, Andrew B.; Majji, Manoranjan; Bhaskara, Ramchander Rao; Restrepo, Carolina I.; Lovelace, Ronney

doi:10.2514/6.2021-0646

Cited by 4 publications

(2 citation statements)

References 19 publications

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“…Optoelectronics and machine vision are being embraced at a rapid pace for relative navigation applications [5]- [7]. The corresponding vision-based sensing modalities provide rich information context of the surrounding world to the ego-vehicles [8], [9].…”

Section: Introductionmentioning

confidence: 99%

An FPGA framework for Interferometric Vision-Based Navigation (iVisNav)

Bhaskara¹,

Sung²,

Majji³

2022

Preprint

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Interferometric Vision-Based Navigation (iVisNav) is a novel optoelectronic sensor for autonomous proximity operations. iVisNav employs laser emitting structured beacons and precisely characterizes six degrees of freedom relative motion rates by measuring changes in the phase of the transmitted laser pulses. iVisNav's embedded package must efficiently process high frequency dynamics for robust sensing and estimation. A new embedded system for least squares-based rate estimation is developed in this paper. The resulting system is capable of interfacing with the photonics and implement the estimation algorithm in a field-programmable gate array. The embedded package is shown to be a hardware/software co-design handling estimation procedure using finite precision arithmetic for highspeed computation. The accuracy of the finite precision FPGA hardware design is compared with the floating-point software evaluation of the algorithm on MATLAB to benchmark its performance and statistical consistency with the error measures. Implementation results demonstrate the utility of FPGA computing capabilities for high-speed proximity navigation using iVisNav.

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Section: Introductionmentioning

confidence: 99%

An FPGA framework for Interferometric Vision-Based Navigation (iVisNav)

Bhaskara¹,

Sung²,

Majji³

2022

Preprint

Self Cite

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“…Accelerometers are used in countless applications including: satellite, aircraft, robotic, and automotive inertial navigation. Particularly, in the realm of satellite design these devices are used both as navigation equipment [ 1 , 2 , 3 , 4 ] and as scientific instrumentation [ 5 , 6 , 7 , 8 , 9 , 10 , 11 ]. In both cases the accuracy of the estimated acceleration directly impacts the performance of the system and its ability to meet critical mission requirements.…”

Section: Introductionmentioning

confidence: 99%

Estimation and Error Analysis for Optomechanical Inertial Sensors

Kelly

Majji

Guzmán

2021

Sensors

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A sensor model and methodology to estimate the forcing accelerations measured using a novel optomechanical inertial sensor with the inclusion of stochastic bias and measurement noise processes is presented. A Kalman filter for the estimation of instantaneous sensor bias is developed; the outputs from this calibration step are then employed in two different approaches for the estimation of external accelerations applied to the sensor. The performance of the system is demonstrated using simulated measurements and representative values corresponding to a bench-tested 3.76 Hz oscillator. It is shown that the developed methods produce accurate estimates of the bias over a short calibration step. This information enables precise estimates of acceleration over an extended operation period. These results establish the feasibility of reliably precise acceleration estimates using the presented methods in conjunction with state of the art optomechanical sensing technology.

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