Simultaneous estimations of ground target location and aircraft direction heading via image sequence and GPS carrier-phase data
- Resource Type
- Conference
- Authors
- Wang, L.K.; Shan-Chih Hsieh; Fei-Bin Hsaio; Kou-Yuan Huang; Guo-Shing Huang; Fan-Jen Tsai
- Source
- Proceedings of the 2004 IEEE International Conference on Control Applications, 2004. Control applications Control Applications, 2004. Proceedings of the 2004 IEEE International Conference on. 2:1497-1502 Vol.2 2004
- Subject
- Robotics and Control Systems
Components, Circuits, Devices and Systems
Aircraft
Image sequences
Global Positioning System
Optical filters
Data flow computing
Optical computing
Optical receivers
Optical sensors
Image motion analysis
Coordinate measuring machines
- Language
An exquisite technique, using both dual GPS carrier-phase receivers' measurements and target image sequence, is proposed to attain the stationary target location on the ground as well as the aircraft heading. Direct solving of integer ambiguity in carrier-phase measurements is avoided, while the differences of the integer ambiguity numbers are incorporated in the states of the proposed statistical filter. The extended Kalman filter (EKF) is utilized to obtain the World Geodetic System-1984 (WGS-84) coordinate of the ground target without using any computation-intensive technique such as optical flow and measurement data error sensitive one like least-squares. A generic carrier-phase data processing technique is employed to calculate the attitude of the aircraft. The proposed filter's performance is verified by utilizing actual GPS carrier-phase measurement data.