A UAS may use camera-captured ground feature data to iteratively estimate pose change through a Kalman filter. To avoid excessive drift, the UAS may periodically perform a reset by publishing delta pose and covariance as an edge in a global pose graph, by zeroing out the delta pose and covariance. To further improve global pose estimation, two UASs may share range information and associated pose graph information, thereby providing an additional constraint for each UAS to use in its pose graph optimization.


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    Title :

    Cooperative Aircraft Navigation


    Contributors:

    Publication date :

    2021-10-14


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    IPC:    G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / B64D Ausrüstung für Flugzeuge , EQUIPMENT FOR FITTING IN OR TO AIRCRAFT / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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