Vision-Aided Integrity Monitor for Precision Relative Navigation Systems

Sean M. Calhoun, John Raquet, Gilbert Peterson

Peer Reviewed

Abstract: Current trends in autonomous systems have led to a desire for layered systems that utilize a wide array of sensors to meet operational and safety objectives. As this progression to autonomy continues, particularly for safety-critical navigation applications, ensuring that systems are providing safe information by maintaining a high level of integrity is becoming more important. This paper focuses on the development of a generalized vision-aided integrity monitor for precision relative navigation applications. The research is based on the concept of using a single camera vision system, such as a electro-optical (EO) or infrared imaging (IR) sensor, to monitor for unacceptably large and potentially unsafe relative navigation errors. This vision-aided integrity monitor utilizes known 3-D world models to render imagery and detect when the system exceeds a predefined navigation alert limit. The research demonstrates that high levels of integrity performance is achievable (10-4) by applying rigorous and quantifiable detection methods such as Neyman-Pearson and Bayesian techniques. A vision-aided integrity monitor of this type could be extremely valuable in augmenting existing precision relative navigation systems, such as Global Positioning System (GPS), for many different safety critical applications like formation flying, aerial refueling, rendezvous/docking systems, and even precision landing.
Published in: Proceedings of the 2015 International Technical Meeting of The Institute of Navigation
January 26 - 28, 2015
Laguna Cliffs Marriott
Dana Point, California
Pages: 756 - 767
Cite this article: Calhoun, Sean M., Raquet, John, Peterson, Gilbert, "Vision-Aided Integrity Monitor for Precision Relative Navigation Systems," Proceedings of the 2015 International Technical Meeting of The Institute of Navigation, Dana Point, California, January 2015, pp. 756-767.
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