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Absolute Localization in GPS-denied Environment for Autonomous Unmanned Ground…

Award Information

Agency:
Department of Defense
Branch:
Navy
Award ID:
Program Year/Program:
2012 / SBIR
Agency Tracking Number:
N121-101-0791
Solicitation Year:
2012
Solicitation Topic Code:
N121-101
Solicitation Number:
2012.1
Small Business Information
Polaris Sensor Technologies, Inc.
200 Westside Square Suite 320 Huntsville, AL 35801-
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Woman-Owned: Yes
Minority-Owned: No
HUBZone-Owned: No
 
Phase 1
Fiscal Year: 2012
Title: Absolute Localization in GPS-denied Environment for Autonomous Unmanned Ground and Micro-air Vehicle Systems
Agency / Branch: DOD / NAVY
Contract: N00014-12-M-0272
Award Amount: $149,996.00
 

Abstract:

Polaris proposes to make use of currently available sensor suites on AUGV/MAV platforms to implement a Kalman filter-based integrated solution to the autonomous localization problem in GPS-denied environments, titled Stereo Camera Absolute Localization and Map correlation System (SCALMS). This effort will focus on the development of two distinct subsystems, dead reckoning and absolute positioning. The innovation lies in the implementation of the dead reckoning localization subsystem and also in the novel methods for correlating maps in the absolute positioning subsystem. The proposed Phase I will result in the implementation and field test of the first subsystem and the analysis and design of the second. A design which integrates the two into the SCALMS architecture is provided. Finally, novel methods for handling feature-poor and feature-rich environments, as well as localization reset, are suggested. We estimate that the SCALMS architecture could be implemented on many AUGV platforms in production today without adding additional sensing hardware and without exceeding SWAP, processing, and memory requirements. The final system will be ideal because of its integration of some proven technologies, but innovative due to its application of others.

Principal Investigator:

Todd Aycock
Computer Engineer
(256) 562-0087
todd.aycock@polarissensor.com

Business Contact:

David Chenault
President
(256) 562-0087
david.chenault@polarissensor.com
Small Business Information at Submission:

Polaris Sensor Technologies, Inc.
200 Westside Square Suite 320 Huntsville, AL -

EIN/Tax ID: 431998920
DUNS: N/A
Number of Employees:
Woman-Owned: Yes
Minority-Owned: No
HUBZone-Owned: No