Optical Navigation Sensor for Runway Relative Positioning of Aircraft during Final Approach

Precise navigation is often performed by sensor fusion of different sensors. Among these sensors, optical sensors use image features to obtain the position and attitude of the camera. Runway relative navigation during final approach is a special case where robust and continuous detection of the runway is required. This paper presents a robust threshold marker detection method for monocular cameras and introduces an on-board real-time implementation with flight test results. Results with narrow and wide field-of-view optics are compared. The image processing approach is also evaluated on image data captured by a different on-board system. The pure optical approach of this paper increases sensor redundancy because it does not require input from an inertial sensor as most of the robust runway detectors

Stability analysis of shear banding flow with the BMP model

The present paper describes a methodology to estimate the attitude and the position of a bio-inspired robot as well the position of a target. The robot is equipped with a decoupled eye yielding an angular measurement relative to a target and it does not use an IMU. An Extended Kalman Filter is designed to estimate robot and target states. Simulation results show that the estimator is able to converge to the actual states, and reject some perturbations. It is important to highlight that the method assumes that the initial position of the target is unknown. As a consequence no initial guess for the target position is needed. " 2012 IEEE.",,,,,,"10.1109/ICEEE.2012.6421191",,,"http://hdl.handle.net/20.500.12104/44721","http://www.scopus.com/inward/record.url?eid=2-s2.0-84874440761&partnerID=40&md5=cd1be90f6c6b879b54bac05ed08e5214",,,,,,,,"CCE 2012 - 2012 9th International Conference on Electrical Engineering, Computing Science and Automatic Control",,,,,,"Scopus",,,,,,"Aerial robots; bio-inspiration; SLAM; state estimation",,,,,,"State estimation for a bio-inspired hovering robot equipped with an angular sensor",,"Conference Paper" "46477","123456789/35008",,"Zúñiga, G., Div. de Medicina Molecular, Ctro. Invest. Biomedica Occidente I., Guadalajara, Jalisco, Mexico, Ctro. Invest. Biomedica de Occidente, Colonia Independencia, C.P. 44340, Guadalajara, Jalisco, Mexico; Torres-Buga?in, O., Div. de Medicina Molecular, Ctro. Invest. Biomedica Occidente I., Guadalajara, Jalisco, Mexico; Ramírez-Muñoz, M.P., Div. de Medicina Molecular, Ctro. Invest. Biomedica Occidente I., Guadalajara, Jalisco, Mexico; Ramos, A., Bioterio Ctro. Invest. Biomedica O., Guadalajara, Jalisco, Mexico; Fanti-Rodríguez, E., Zoologico Ctro. Invest. Biomedica O., Guadalajara, Jalisco, Mexico; Portilla, E., Div. de Invest. Quirúrgica, Ctro. Invest. Biomedica Occidente I., Guadalajara, Jalisco, Mexico; García-Martínez, D., Div. de Invest. Quirúrgica, Ctro. Invest. Biomedica Occidente I., Guadalajara, Jalisco, Mexico; Cantú, J.M., División de Genética, Ctro. Invest. Biomedica Occidente I., Guadalajara, Jalisco, Mexico; Gallegos-Arreola, M.P., Div. de Medicina Molecular, Ctro. Invest. Biomedica Occidente I., Guadalajara, Jalisco, Mexico; Sánchez-Corona, J., Div. de Medicina Molecular, Ctro. Invest. Biomedica Occidente I., Guadalajara, Jalisco, Mexico",,"Zuniga, G

State estimation for a bio-inspired hovering robot equipped with an angular sensor

The present paper describes a methodology to estimate the attitude and the position of a bio-inspired robot as well the position of a target. The robot is equipped with a decoupled eye yielding an angular measurement relative to a target and it does not use an IMU. An Extended Kalman Filter is designed to estimate robot and target states. Simulation results show that the estimator is able to converge to the actual states, and reject some perturbations. It is important to highlight that the method assumes that the initial position of the target is unknown. As a consequence no initial guess for the target position is needed. © 2012 IEEE