Absolute Localization in GPS-denied Environment for Autonomous Unmanned Ground and Micro-air Vehicle Systems

Award Information
Agency:
Department of Defense
Branch
Navy
Amount:
$149,996.00
Award Year:
2012
Program:
SBIR
Phase:
Phase I
Contract:
N00014-12-M-0272
Award Id:
n/a
Agency Tracking Number:
N121-101-0791
Solicitation Year:
2012
Solicitation Topic Code:
N121-101
Solicitation Number:
2012.1
Small Business Information
200 Westside Square, Suite 320, Huntsville, AL, -
Hubzone Owned:
N
Minority Owned:
N
Woman Owned:
Y
Duns:
129074840
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
Research Institute:
Stub




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.

* information listed above is at the time of submission.

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