Enhanced cooperative navigation by data fusion from IMU, ambiguous terrain navigation, and coarse relative states

Nicolas Jonathan Adrien Merlinge; James Brusey; Nadjim Horri; Karim Dahia; Helene Piet-Lahanier

doi:10.1109/CDC.2017.8263693

Enhanced cooperative navigation by data fusion from IMU, ambiguous terrain navigation, and coarse relative states

Nicolas Jonathan Adrien Merlinge, James Brusey, Nadjim Horri, Karim Dahia, Helene Piet-Lahanier

Office National d'Etudes et de Recherches Aerospatiales

Research output: Chapter in Book/Report/Conference proceeding › Conference proceeding › peer-review

2 Citations (Scopus)

162 Downloads (Pure)

Abstract

GNSS denied IMU correction is a practical challenge in aerospace vehicle navigation. In the context of several vehicles flying in formation, navigation accuracy can be enhanced by communication between the vehicles. In this paper, a collaborative navigation strategy is presented to deal with coarse and ambiguous measurements. An absolute navigation filter provides a first estimate of the navigation solution, while a relative observer rebuilds the neighbors relative states from embedded seekers. A high-level Master Filter fuses information provided by those two low-level filters to enhance the navigation solution. Absolute navigation measurements are terrain elevation data correlated with a Digital Elevation Model map. Since they are highly ambiguous and nonlinear, they are processed by a Box Regularized Particle Filter. The relative measurements under consideration suffer a high level of uncertainty, especially on the relative distance between vehicles. By fusing all uncertain data, a complete and accurate navigation solution is obtained. Numerical results are presented and show an enhancement in navigation performance by exchanging information, in terms of RMS estimation error (63% more accurate in position), estimation confidence (78% more precise in position), and computational load (requires 83% less operations).

Original language	English
Title of host publication	2017 IEEE 56th Annual Conference on Decision and Control (CDC)
Publisher	IEEE
Pages	375-380
Number of pages	6
ISBN (Electronic)	978-1-5090-2873-3, 978-1-5090-2872-6
ISBN (Print)	978-1-5090-2874-0
DOIs	https://doi.org/10.1109/CDC.2017.8263693
Publication status	Published - 23 Jan 2018
Event	Annual Conference on Decision and Control - Melbourne, Australia Duration: 12 Dec 2017 → 15 Dec 2017 Conference number: 56

Conference

Conference	Annual Conference on Decision and Control
Abbreviated title	CDC
Country/Territory	Australia
City	Melbourne
Period	12/12/17 → 15/12/17

Bibliographical note

© 2017 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.

Copyright © and Moral Rights are retained by the author(s) and/ or other copyright owners. A copy can be downloaded for personal non-commercial research or study, without prior permission or charge. This item cannot be reproduced or quoted extensively from without first obtaining permission in writing from the copyright holder(s). The content must not be changed in any way or sold commercially in any format or medium without the formal permission of the copyright holders.

Keywords

Navigation
Acceleration
Particle measurements
Atmospheric measurements
Measurement uncertainty
Computer architecture
Uncertainty

Access to Document

10.1109/CDC.2017.8263693

Post-PrintAccepted author manuscript, 1.72 MBLicence: CC BY

Cite this

Enhanced cooperative navigation by data fusion from IMU, ambiguous terrain navigation, and coarse relative states. / Merlinge, Nicolas Jonathan Adrien; Brusey, James; Horri, Nadjim et al.
2017 IEEE 56th Annual Conference on Decision and Control (CDC). IEEE, 2018. p. 375-380.

Research output: Chapter in Book/Report/Conference proceeding › Conference proceeding › peer-review

Merlinge, NJA, Brusey, J, Horri, N, Dahia, K & Piet-Lahanier, H 2018, Enhanced cooperative navigation by data fusion from IMU, ambiguous terrain navigation, and coarse relative states. in 2017 IEEE 56th Annual Conference on Decision and Control (CDC). IEEE, pp. 375-380, Annual Conference on Decision and Control, Melbourne, Victoria, Australia, 12/12/17. https://doi.org/10.1109/CDC.2017.8263693

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abstract = "GNSS denied IMU correction is a practical challenge in aerospace vehicle navigation. In the context of several vehicles flying in formation, navigation accuracy can be enhanced by communication between the vehicles. In this paper, a collaborative navigation strategy is presented to deal with coarse and ambiguous measurements. An absolute navigation filter provides a first estimate of the navigation solution, while a relative observer rebuilds the neighbors relative states from embedded seekers. A high-level Master Filter fuses information provided by those two low-level filters to enhance the navigation solution. Absolute navigation measurements are terrain elevation data correlated with a Digital Elevation Model map. Since they are highly ambiguous and nonlinear, they are processed by a Box Regularized Particle Filter. The relative measurements under consideration suffer a high level of uncertainty, especially on the relative distance between vehicles. By fusing all uncertain data, a complete and accurate navigation solution is obtained. Numerical results are presented and show an enhancement in navigation performance by exchanging information, in terms of RMS estimation error (63% more accurate in position), estimation confidence (78% more precise in position), and computational load (requires 83% less operations).",

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Enhanced cooperative navigation by data fusion from IMU, ambiguous terrain navigation, and coarse relative states

Abstract

Conference

Bibliographical note

Keywords

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Cite this