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Local Navigation in GNSS and Magnetometer-Denied Environments

Award Information
Agency: National Aeronautics and Space Administration
Branch: N/A
Contract: NNX13CL47P
Agency Tracking Number: 120201
Amount: $124,638.00
Phase: Phase I
Program: STTR
Solicitation Topic Code: T5.01
Solicitation Number: N/A
Solicitation Year: 2012
Award Year: 2013
Award Start Date (Proposal Award Date): 2013-05-23
Award End Date (Contract End Date): 2014-05-22
Small Business Information
606 SE Depot Ave
Gainesville, FL -
United States
DUNS: 140987723
HUBZone Owned: No
Woman Owned: No
Socially and Economically Disadvantaged: No
Principal Investigator
 Walter Hunt
 Principal Investigator
 (352) 505-2188
Business Contact
 Bryan Frota
Title: CEO
Phone: (352) 505-2188
Research Institution
 University of Florida
 Roslyn Heath
219 Grinter Hall
Gainesville, FL 32611-32611
United States

 () -
 Domestic Nonprofit Research Organization

The proposed solution exploits recent advances in computer vision to conceive of a single-camera + gyro + accelerometer vision-based navigation solution such that the processing will be lightweight (requiring only a single optical flow sample per frame). Known landmarks (natural or artificial) will have absolute positions known to planetary exploration worker robots. The worker robot can identify it's absolute position by observing known landmark features and deriving range from the raw attitude sensor data and the video stream. By observing one or more landmark features during camera motion, the position uncertainty of the range and bearing from the vehicle can be estimated. Each range / bearing measurement to known landmarks acts as a constraint for the camera position in the landmark navigation space (which may be arbitrarily defined and not oriented the same as the global navigation frame). Combining the worker's rough knowledge of it's own position can further reduce the position error estimates.The single-camera passive ranging technology leverages Navy SBIR funded work for early simulation tasks.

* Information listed above is at the time of submission. *

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