Aerial Vehicle Navigation Over Unknown Terrain Environments using Flash LADAR and Inertial Measurements

摘要

The last few years have seen the emergence of various new optical technologies such as the development of sensors known as 3D range–imaging cameras or Flash LADARS (Laser Radars). Unlike conventional scanning lasers, Flash LADARS are capable of capturing the entire scene within their field of view as a single range–intensity image. The research concept proposed for this paper explores the advantages of using a single airborne Flash LADAR (AFL) for precise navigation of an aerial vehicle. The theory and methodology for a dead-reckoning terrain referenced navigation (TRN) algorithm using AFL and Inertial measurements are presented. A navigation algorithm based on a terrain correlation method is discussed. The proposed navigation algorithm is evaluated using flight test data from Ohio University’s DC3 aircraft and synthesized AFL measurements. Preliminary results have shown the system’s position drift performance to be about 100 meters/hour under specific configurations.