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- W1524676543 abstract "In the recent past, a shift has taken place from mannedto unmanned Intelligence, Surveillance, and Reconnaissance(ISR) missions. This shift has lead to an increasein the number of unmanned vehicles (UV) operating in atheater. Additionally, removal of the crew allows for a reduction in the scale of the vehicles, which in turn leads to an increased ability to operate in GPS degraded environments. These environments include but are not limitedto urban canyons, caves, and building interiors. Withthe loss of GPS signal the vehicles must rely on InertialNavigation Systems (INS) which when reduced to an appropriate size are inherently inaccurate. As the relianceon these vehicles increases so does the desire for ever moreaccurate navigation and targeting. In this paper, we endeavor to exploit three attributes of the increase in UVuse for ISR missions. The first attribute is the increasednumbers of UVs in a theater, while the remaining twoattributes of on-board vision systems and wireless communication are inherent in the ISR mission.This paper’s focus is the development and validation ofa cooperative navigation system based on the measurementof UV position relative to shared landmark positionestimates. Each UV in the network locates landmarksusing it’s on-board vision system and transmits the datato all other system UVs. After receiving data from theother UVs, the system uses the landmarks as additionalmeasurements.The system is evaluated using Matlab simulation. Threesimulations are created to perform the evaluation. Thefirst provides individual position and attitude estimateswithout interaction between the UVs. The second providesthe same estimates using the cooperative systemwithout ranging information between UVs while the thirdincludes ranging. The results of the simulations are usedto demonstrate the improvements provided by the utilizationof shared landmarks." @default.
- W1524676543 created "2016-06-24" @default.
- W1524676543 creator A5047412442 @default.
- W1524676543 date "2012-11-12" @default.
- W1524676543 modified "2023-09-27" @default.
- W1524676543 title "Vision-Aided, Cooperative Navigation for Multiple Unmanned Vehicles" @default.
- W1524676543 hasPublicationYear "2012" @default.
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