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

This proposal seeks to demonstrate the feasibility of a compact sensor/computing suite to produce a global navigation solution in the absence of GPS in a package weighing less than 60 grams. The significance of such a development is that it will enable operation beyond line of sight of small/micro UAVs both under canopy and for shipboard use. Our innovation is in the use of lightweight DSPs to perform visual odometry (VO). Our navigation solution will integrate VO with inertial sensors and visual loop closure. The same device will also be able to measure obstacle proximity. Phase I activities will involve specialists in navigation, visual odometry and loop closure. Work will be performed at SMI and at Carnegie Mellon University. The team will leverage a current ONR project to map riverine environments with a low-flying rotorcraft. In the base Phase I program we will collect data in representative environments and evaluate navigation with existing software. We will end with a software and hardware design. In the Phase I option we will implement and evaluate the design with a 100 gram prototype. The size of the worldwide markets is estimated at $100 million. SMI plans to capture 10% of this market by the 5th year.