Name
Abstract | ||
|---|---|---|
Numerous upcoming NASA missions need to land safely and precisely on planetary bodies. Accurate and robust state estimation during the descent phase is necessary. Towards this end, we have developed an approach for improved state estimation by augmenting traditional inertial navigation techniques with image-based motion estimation (IBME). A Kalman filter that processes rotational velocity and linear acceleration measurements provided from an inertial measurement unit has been enhanced to accommodate relative pose measurements from the IBME. In addition to increased state estimation accuracy, IBME convergence time is reduced while robustness of the overall approach is improved. The methodology is described in detail and experimental results with a 5 DOF gantry testbed are presented. |
Year | DOI | Venue |
|---|---|---|
2002 | 10.1109/ROBOT.2002.1014441 | Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference |
Keywords | Field | DocType |
Kalman filters,aerospace control,attitude measurement,feature extraction,filtering theory,inertial navigation,motion estimation,position control,position measurement,space vehicles,state estimation,Kalman filter,NASA missions,convergence time,descent phase,image-based motion estimation,inertial measurement unit,inertial navigation,linear acceleration measurements,planetary bodies,relative pose measurements,rotational velocity,state estimation | Inertial navigation system,Control theory,Robustness (computer science),Control engineering,Inertial measurement unit,Artificial intelligence,Motion estimation,Computer vision,Accelerometer,Feature extraction,Kalman filter,Acceleration,Engineering | Conference |
Volume | Issue | ISBN |
4 | 1 | 0-7803-7272-7 |
Citations | PageRank | References |
80 | 9.16 | 6 |
Authors | ||
3 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Stergios I. Roumeliotis | 1 | 1034 | 72.98 |
| Andrew Johnson | 2 | 1489 | 95.14 |
| James F. Montgomery | 3 | 470 | 66.96 |