TY - GEN
T1 - Robust Navigation Based on an Interacting Multiple-Model Filtering Framework Using Multiple Tracking Cameras
AU - Arachchige, Sasanka Kuruppu
AU - Lee, Kyuman
N1 - Publisher Copyright:
© 2024 by The MITRE Corporation. Published by the American Institute of Aeronautics and Astronautics, Inc.
PY - 2024
Y1 - 2024
N2 - A commercial tracking camera readily available in aerospace applications usually provides reliable navigation solutions. While the navigation resulting from a tracking camera sometimes fails or drifts in a certain environment, another tracking camera facing a different direction in the same environment is usable. To produce consistent navigation with multiple tracking cameras facing distinct directions, we propose a real-time fusion approach employing an interacting multiple-model filtering framework. In other words, estimation outputs from each tracking camera are weighted according to their accuracy and uncertainty to generate a robust navigation system. The real-world experiments show that the proposed navigation system overcomes sensor failure and loss of texture for one camera.
AB - A commercial tracking camera readily available in aerospace applications usually provides reliable navigation solutions. While the navigation resulting from a tracking camera sometimes fails or drifts in a certain environment, another tracking camera facing a different direction in the same environment is usable. To produce consistent navigation with multiple tracking cameras facing distinct directions, we propose a real-time fusion approach employing an interacting multiple-model filtering framework. In other words, estimation outputs from each tracking camera are weighted according to their accuracy and uncertainty to generate a robust navigation system. The real-world experiments show that the proposed navigation system overcomes sensor failure and loss of texture for one camera.
UR - http://www.scopus.com/inward/record.url?scp=85193930354&partnerID=8YFLogxK
U2 - 10.2514/6.2024-1175
DO - 10.2514/6.2024-1175
M3 - Conference contribution
AN - SCOPUS:85193930354
SN - 9781624107115
T3 - AIAA SciTech Forum and Exposition, 2024
BT - AIAA SciTech Forum and Exposition, 2024
PB - American Institute of Aeronautics and Astronautics Inc, AIAA
T2 - AIAA SciTech Forum and Exposition, 2024
Y2 - 8 January 2024 through 12 January 2024
ER -