Abstract
Inertial Navigation System (INS) aiding using bearing measurements taken over time of stationary ground features is investigated. A vertical munition drop is considered. The objective is to quantify the temporal development of the uncertainty in the navigation states provided by a munition’s INS which is aided by taking bearing measurements of ground objects which have been geolocated using ownship position. It is shown that a munition in “free fall,” by tracking its geolocated ground features, will have the benefit of a considerable reduction in the uncertainty in the INS-provided navigation state.
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Relyea, A., Pachter, M. (2015). A Covariance Analysis of Vision-Aided Inertial Navigation: Free Fall Case. In: Choukroun, D., Oshman, Y., Thienel, J., Idan, M. (eds) Advances in Estimation, Navigation, and Spacecraft Control. ENCS 2012. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-662-44785-7_17
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DOI: https://doi.org/10.1007/978-3-662-44785-7_17
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