Covariance Analysis Considering the Propagation of Laser Scanning Errors use in LADAR Navigation

Dustin Bates and Frank van Graas

Abstract:	In order to effectively use a scanning laser for navigation, it is important to have an understanding of how the scanning laser errors propagate through the system from scanning points to the navigation solution. Correct covariance calculation enables efficient matching of navigation objects between scans, provides correct knowledge of the positioning and heading uncertainty growth over multiple scans, and enables coupling with other systems such as IMUs. This paper presents a mathematical method for calculating the two-dimensional covariance of scanned points, covariance of scanned lines, and covariance of the resulting navigation solution. Scanned point covariances are found by transforming the laser scanner error while considering the effects of scan range, scan angle, physical geometry of the object being scanned, and inherent properties of the laser scanner itself. The scanned line covariance calculation considers the covariance of each point comprising the line and the geometry of the line itself. Finally, the covariance of a scanned line-based navigation solution is presented which considers the effect of line covariances on the navigation solution. Monte Carlo simulations are used to verify the covariance analysis.
Published in:	Proceedings of the 63rd Annual Meeting of The Institute of Navigation (2007) April 23 - 25, 2007 Royal Sonesta Hotel Cambridge, MA
Pages:	624 - 634
Cite this article:	Bates, Dustin, van Graas, Frank, "Covariance Analysis Considering the Propagation of Laser Scanning Errors use in LADAR Navigation," Proceedings of the 63rd Annual Meeting of The Institute of Navigation (2007), Cambridge, MA, April 2007, pp. 624-634.
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