Local Navigation in GNSS and Magnetometer-Denied Environments

Award Information
Agency:
National Aeronautics and Space Administration
Branch
n/a
Amount:
$124,638.00
Award Year:
2013
Program:
STTR
Phase:
Phase I
Contract:
NNX13CL47P
Award Id:
n/a
Agency Tracking Number:
120201
Solicitation Year:
2012
Solicitation Topic Code:
T5.01
Solicitation Number:
n/a
Small Business Information
606 SE Depot Ave, Gainesville, FL, -
Hubzone Owned:
N
Minority Owned:
N
Woman Owned:
N
Duns:
140987723
Principal Investigator:
Walter Hunt
Principal Investigator
(352) 505-2188
lee.hunt@prioria.com
Business Contact:
Bryan Frota
CEO
(352) 505-2188
bryan.dafrota@prioria.com
Research Institute:
University of Florida
Roslyn Heath
219 Grinter Hall
Gainesville, FL, 32611-32611
() -
Domestic nonprofit research organization
Abstract
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.

Agency Micro-sites


SBA logo

Department of Agriculture logo

Department of Commerce logo

Department of Defense logo

Department of Education logo

Department of Energy logo

Department of Health and Human Services logo

Department of Homeland Security logo

Department of Transportation logo

Enviromental Protection Agency logo

National Aeronautics and Space Administration logo

National Science Foundation logo
US Flag An Official Website of the United States Government