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Vision-integrated navigation system for aircraft final approach in case of GNSS/SBAS or ILS failures

Abstract : This paper proposes a vision-integrated navigation system to guide an aircraft on the final glide path. It makes use of onboard vision systems which track runway features and estimate a 6D aircraft pose with respect to a runway to land. The proposed vision-integrated navigation system will allow an aircraft to continue the final approach procedure by maintaining the navigation precision in case of possible degradation or failure of ILS or GNSS/SBAS sensors. In order to handle a non-negligible delay of such vision-based measurements due to the image processing time, an error-sate Kalman filter (ESKF) framework incooporating time-delayed measurements is established. The proposed delayed-measurement ESKF framework uses a fact that camera image acquisitions are triggered and notified without delay, and performs the back-propagation of the estimated state forward in time to prepare in advance for the future correction step when the corresponding measurement becomes available. The vision-integrated navigation system based on this framework was developed and its functionality is validated in simulations. Its estimation performance will be flight-evaluated with two different vision systems onboard a fixed-wing UAV experimental platform, and flight evaluation results will be presented in the final paper.
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https://hal.archives-ouvertes.fr/hal-02020366
Contributor : Véronique Soullier <>
Submitted on : Friday, February 15, 2019 - 11:08:18 AM
Last modification on : Tuesday, March 16, 2021 - 3:20:07 PM
Long-term archiving on: : Friday, May 17, 2019 - 9:44:51 AM

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Yoko Watanabe, Augustin Manecy, Antal Hiba, Sho Nagai, Aoki Shin. Vision-integrated navigation system for aircraft final approach in case of GNSS/SBAS or ILS failures. AIAA Scitech 2019, Jan 2019, San Diego, CA, United States. pp.0113, ⟨10.2514/6.2019-0113⟩. ⟨hal-02020366⟩

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