Autonomous Navigation Using Passive Sensors and Small Computers
Javaan Chahl, Akiko Mizutani, Malcolm J. A. Strens, Martin Wehling · Infotech@Aerospace · 2005
Autonomous navigation is a long sought after goal in the autonomous systems eld. Typically solutions are extremely expensive in terms of either precision (inertial instruments), or computing power (machine vision). Both of these alternatives are unacceptable for small UAVs and weapons. The added constraint that the system should be passive further restricts the solution space. The Technical Cooperation Panel (TTCP, www.dtic.mil/ttcp/ ) has initiated an eort to solve the guidance and navigation problem in a way that is usable in a defense context on small platforms. The solution must be achieved using avionics that is simple, low cost and small. The techniques used to solve the problem are borrowed from biology and traditional weaponeering. Techniques implemented to date include: 1. Optical horizon based stabilization techniques. 2. Polarization compassing. 3. Correction of lateral drift using optical o w. 4. Passive detection of landmarks. Data from igh t tests will be presented, including an overview of the algorithms and avionics implemented to date.