A Robust Image Based Navigation System for an Air Vehicle

The objectives of this project (Phase I and II) are to develop an automated, robust, and reliable image based navigation system for an air vehicle. Phase I (1) developed a mathematical foundation for motion image navigation, (2) formulated the mathematical basis for processing a series of sensed frames to generate the terrain profile and correlating the profile to a pre-defined reference map to provide a positional update (assume robust navigational estimates) (3) formulated the mathematical basis for processing a series of sensed frames to provide a velocity update (assume noisy navigational estimates) (4) defined critical camera parameters, air speed, and altitude limitations, (5) estimated navigation accuracy and robustness under varying conditions, and (6) estimated required computing resources to implement this approach in real-time. Phase II will develop and demonstrate a prototype image-based and will (1) Demonstrate the ability to provide image based position and velocity updates for both day-time and night-time flight. (2) Estimate navigation accuracy and robustness attainable by an air vehicle using these image based position and velocity updates for both day-time and night-time flight. Phase III will integrate of the motion image navigation technique into an air vehicle. Commercial applications of the approach will also be investigated by SSCI and its subcontractor Boeing during the Phase II and fully developed during the Phase III. The project team consists of Scientific Systems Company Inc. (SSCI) and Boeing Mission Planning System (Boeing MPS). SSCI brings a wealth of expertise in image analysis, computer vision, and guidance, navigation, and controls (GNC) systems. Boeing MPS has expert domain knowledge of the Tomahawk system.