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During the entry, descent and landing (EDL) phase of the lunar explorer with a high degree of accuracy, the dual quaternion and the unscented Kalman filter (UKF) based vision navigation method is presented, in order to accomplish navigation task. The lunar explorer's pose estimation method is developed through dual-quaternion calculation. The state equation is derived according to the dynamic model...
This paper presents an integrated vision-based navigation system for small autonomous aircraft. Previously developed sensor fusion algorithms based on the unscented Kalman filter (UKF) are combined with an adaptive receding horizon controller (ARHC) for guidance. Control and planning horizons are computed based on the sensor range and the effective speed of the UAV, which is computed as a weighted...
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