Safe & Sound: A Robust Collision Avoidance Layer for Aerial Robots Based on Acoustic Sensors

J. Müller, A. Viseras Ruiz, I. Wieser

Abstract:	Common mechanizations are not applicable for a marine strapdown Inertial Navigation System (INS) in Polar Region. Aiming at this problem, transversal strapdown INS mechanization and corresponding damping technology are proposed in this paper to replace common strapdown INS mechanizations. The transversal coordinate system is constructed for the mechanization of transversal strapdown INS, and then an error analysis for transversal strapdown INS is performed. The error analysis for transversal strapdown INS reveals the fact that the system also includes three kinds of periodic oscillating errors as common strapdown INS. To restrain the periodic oscillating errors, damping equalizers applicable to transversal strapdown INS are designed with reference velocity compensating the effect of ship motion. Finally simulation test is carried out to demonstrate the performance of transversal strapdown INS and damping technology in Polar Region.
Published in:	Proceedings of IEEE/ION PLANS 2014 May 5 - 8, 2014 Hyatt Regency Hotel Monterey, CA
Pages:	1197 - 1202
Cite this article:	Müller, J., Ruiz, A. Viseras, Wieser, I., "Safe & Sound: A Robust Collision Avoidance Layer for Aerial Robots Based on Acoustic Sensors," Proceedings of IEEE/ION PLANS 2014, Monterey, CA, May 2014, pp. 1197-1202. https://doi.org/10.1109/PLANS.2014.6851492
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