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Visual-inertial odometry (VIO) is an important component in autonomous navigation of Unmanned Aerial Vehicles (UAVs) in GPS-denied or degraded environments. VIO is a nonlinear estimation problem where control inputs, such as acceleration and angular velocity, have significant impact on the estimation performance. In this paper, we examine the effects of controls on the VIO problem. We first propose...
Visual-inertial odometry (VIO) is a nonlinear estimation problem where control inputs, such as acceleration and angular velocity, play a significant role in the estimation performance. In this paper, we examine effects of controls on the VIO problem. We first analyze the effects of acceleration and angular velocity inputs on state observability of the VIO problem. Representing the vehicle dynamics...
Relative state estimation is an important component in multi-vehicle applications in GPS-denied environments. In this paper, we consider relative heading estimation between two Unmanned Aerial Systems (UAS). We examine observability properties of relative states between the two UAS in the presence of constant disturbances. We assume that UAS 2 measures UAS 1's position in its own frame. We first present...
This paper addresses the problem of target handoff between two fixed wing aircraft that do not have access to GPS. The problem requires estimating the relative pose between the vehicles. We examine the observability of the relative states needed to do the handoff when the relative position vector between the aircraft is measured, as would be the case for a radar or a lidar sensor. We assume that the...
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