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Meeting	ACGS Committee Meeting 122 - Savannah, GA - October 2018
Agenda Location	6 SUBCOMMITTEE B – Missiles and Space 6.1 Vision-Aided Navigation for Precision Airdrop
Title	Vision-Aided Navigation for Precision Airdrop
Presenter	Andrew Olguin
Affiliation	Draper
Available Downloads*	presentation
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Abstract	The U.S. Army Natick Soldier Research, Development and Engineering Center is leading an effort to develop precision guided-airdrop systems capable of navigating without a global positioning system (GPS) receiver. This capability is essential for aerial resupply of troops in challenging environments where GPS may be unavailable due to jamming, spoofing or poor satellite visibility. To address this need, a computer vision-based avionics system has been designed, implemented and flight tested. The design uses existing guidance and control algorithms currently featured on the Army’s GPS-equipped airdrop systems. The key innovation to obtain GPS-free operation is the inclusion of novel navigation algorithms integrating monocular camera imagery with traditional inertial sensors. The approach first determines the parafoil position relative to the intended landing location using a widearea image matching search. Complementary methods are used to initialize velocity and attitude, requiring only rough knowledge of the canopy’s typical airspeed and glide slope as well as the local magnetic field vector. Position accuracy is maintained, and typically improved, throughout flight with a combination of multi-frame image feature tracking and triangulation as well as absolute landmark recognition with line-of-sight updates. The navigation algorithm is able to determine all inputs required for vehicle guidance and control, including real-time estimation of wind and vehicle aerodynamic quantities, all with no prior wind field knowledge. Bio: Andrew graduated from University of California Riverside in 2016 with a B.S. in Electrical Engineering and has since been working at Draper as a Perception and Localization engineer. He has worked on HWIL simulations for Trident, Terrain Relative Navigation Algorithms for Guided Airdrop, and Vision Based Navigation for a small autonomous ground vehicle. His research interests include Vision Based Navigation Systems and GPS Receivers.