Cooperative Airborne Inertial-SLAM for Improved Platform and Feature/Target Localisation

Abstract

The aim of this project is to develop cooperative guidance laws for platforms which employ Simultaneous Localization and Mapping (SLAM) algorithms as part of the information feedback to the guidance loop. In GPS denied environments SLAM is an essential navigation tool, as it can provide both a map of ground features together with location and attitude information for the sensor platform with respect to this map. The benefit of using the SLAM algorithm is that it can determine the accuracy of both platform and target locations, both of which improve as a function of feature/target revisitation or sharing of maps between various platforms

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Document Details

Document Type
Technical Report
Publication Date
Jan 25, 2008
Accession Number
ADA476125

Entities

People

  • Mitch Bryson
  • Salah Sukkarieh

Organizations

  • University of Sydney

Tags

Communities of Interest

  • Air Platforms
  • Autonomy
  • Space

DTIC Thesaurus Topics

  • Accuracy
  • Airborne
  • Algorithms
  • Cartography
  • Control Systems
  • Data Fusion
  • Environment
  • Feedback
  • Global Positioning Systems
  • Guidance
  • Maps
  • Motion Planning
  • Navigation
  • Simulations
  • Simulators
  • Simultaneous Localization And Mapping
  • Unmanned Aerial Vehicles

Readers

  • Adaptive Control and Estimation with Uncertainty in Dynamic Systems.
  • Agent-Based Social Robotics and Mobile-Assisted Learning in Virtual Environments.
  • Positioning, Navigation, and Timing (PNT) Technology.

Technology Areas

  • Space
  • Space - Spacecraft Maneuvers