LPV systems with brief instabilities: Application to integrated vision/IMU navigation

@article{Hespanha2001LPVSW,
  title={LPV systems with brief instabilities: Application to integrated vision/IMU navigation},
  author={J. P. Hespanha and O. A. Yakimenko and I. Kaminer and Ant{\'o}nio Manuel Santos Pascoal},
  journal={2001 European Control Conference (ECC)},
  year={2001},
  pages={3810-3815}
}
This paper describes an application of recently developed results on linear parametrically varying systems (LPVs) with brief instabilities reported in [3] to the problem of designing a nonlinear vision/inertial navigation filter for an aircraft approaching an aircraft carrier is included. The results developed provide the proper framework to deal with out-of-frame events that arise when the vision system loses its target temporarily. Field tests with a prototype unmanned air vehicle illustrate… CONTINUE READING
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