Absolute Localization in GPS-denied Environment for Autonomous Unmanned Ground and Micro-air Vehicle Systems

Under this topic we seek to develop methods for micro-air vehicles (MAV) to determine their position in global coordinates when Global Positioning System (GPS) is unavailable in environments such as when operating inside structures. One specific application is to assist in reconnaissance to aid in fire control and damage assessment. Other applications include infrastructure inspection for both the Navy and other commercial applications. We have specifically examined the ConOps associated with a small air vehicle capable of autonomously travelling through a ship. We envision that an operator will command the air vehicle to go to a specific places designated by reference to a floor plan and be able to return autonomously to the operator. No special infrastructure should be necessary to enable this capability. To successfully fulfill this mission, the vehicle must localize itself in an absolute (ship based) coordinate frame and create a plan to get from its current to the final location. While travelling along the planned route, the vehicle must also detect and avoid any obstacles. The environment through which the air vehicle will travel consists of narrow passageways and hatchways that may or may not be filled with smoke or distorted by damage.