A Hybrid Fixed Inertial (HyFI) system for Micro Air Vehicles (MAV) with autonomous navigation and object avoidance in dense urban/indoor environments

Award Information
Agency:
Department of Defense
Branch
Army
Amount:
$729,999.00
Award Year:
2007
Program:
SBIR
Phase:
Phase II
Contract:
W911W6-07-C-0050
Award Id:
79300
Agency Tracking Number:
A062-001-2743
Solicitation Year:
n/a
Solicitation Topic Code:
n/a
Solicitation Number:
n/a
Small Business Information
6800 Cortona Drive, Goleta, CA, 93117
Hubzone Owned:
N
Minority Owned:
N
Woman Owned:
N
Duns:
054672662
Principal Investigator:
KenanEzal
Senior Staff Analyst
(805) 968-6787
kezal@toyon.com
Business Contact:
MarcellaLindbery
Director of Finance and C
(805) 968-6787
mlindbery@toyon.com
Research Institute:
n/a
Abstract
Toyon Research Corporation proposes to develop and demonstrate Toyon's Hybrid Fixed Inertial (HyFI) navigation sensor suite on a small unmanned aerial vehicle (SUAV) or micro air vehicle (MAV). HyFI is a compact, lightweight, self-contained position sensor that incorporates inertial measurement, ultrasonic object tracking, and passive optical sensing. HyFI is a navigation system capable of autonomously navi-gating in GPS denied areas and in dense urban/indoor environments, while providing object avoidance capability and producing unparalleled reconnaissance information on small platforms. The HyFI system uses a direct ranging acoustic sensor (BugEye) enabling navigation in GPS denied areas, autonomous navigation and object avoidance which GPS based navigation cannot do without complete ground truth. Furthermore, the HyFI system clamps navigation error as its position estimate is based on relative loca-tion to fixed objects in its environment. During the Phase II effort Toyon will integrate in hardware a pas-sive optical sensor, the HyFI navigation sensor architecture with a path following based MAV controller governed by a higher level path planning algorithm. The combination of these four systems will allow the HyFI equipped MAV to directly measure its environment optically and acoustically for the purpose of avoiding objects and producing maps with both visual and spatial information.

* information listed above is at the time of submission.

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