Navigation Using Optical Measurements of Objects at Unknown Locations

J. F. Raquet, M. Giebner

Abstract:	Integrating inertial navigation systems (INS) with GPS synergistically takes advantage of the strengths of both types of systems. However, there are times when GPS may not be available, and other INS aiding measurements are necessary. This paper proposes using passive image data to improve navigation performance for a flight trajectory, without knowing ahead of time the location of the objects being tracked in the images. An algorithm was developed to integrate image data with inertial measurements in order to reduce the rate of INS error growth during times of GPS outages. Results are presented from a test conducted on a T-38 aircraft. This test demonstrated that for a 400 second GPS outage, the position error growth was reduced by over 70% when aiding the INS with image data. The positions of the tracked objects on the ground were not known for this test.
Published in:	Proceedings of the 59th Annual Meeting of The Institute of Navigation and CIGTF 22nd Guidance Test Symposium (2003) June 23 - 25, 2003 Hyatt Regency Hotel Albuquerque, NM
Pages:	282 - 290
Cite this article:	Raquet, J. F., Giebner, M., "Navigation Using Optical Measurements of Objects at Unknown Locations," Proceedings of the 59th Annual Meeting of The Institute of Navigation and CIGTF 22nd Guidance Test Symposium (2003), Albuquerque, NM, June 2003, pp. 282-290.
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