TY  - JOUR
AU  - Stephen Craig Stubberud
AU  - Kathleen Ann Kramer
AU  - Allen Roger Stubberud
TI  - Image Navigation Using A Tracking-Based Approach
JO  - Advances in Science, Technology and Engineering Systems Journal
PY  - 2017
VL  - 2
IS  - 3
SP  - 1478
EP  - 1486
DO  - 10.25046/aj0203185
UR  - https://www.astesj.com/v02/i03/p185/
L1  - https://www.astesj.com/?sdm_process_download=1&download_id=
AB  - Navigation is often performed using the Global Positioning Satellite system. However, the system is not always reliable for use at all times in all contexts. Reliance solely on such systems could endanger a vessel or get people lost. Another approach to provide navigation is to use known landmarks and triangulate one’s position. A navigation solution can be automatically generated using image data. In this paper, a target-tracking based approach for navigation using imagery is developed. The technique is based on an extended Kalman filter that uses angle measurements only. The technique is developed to use landmarks known a priori and landmarks that are first tracked by the vessel navigating and then used as known landmarks. The issues of observability to the development are considered. Image tracking from video frame to video frame is a further element. The frame-to-frame image correlation technique, the phase-only filter, is used to provide a low uncertainty estimate of the position of elements based upon the image frame. This provides an estimate of bearing angle that can be combined with a bearing from other known landmarks to fix and track the platform to provide a navigation solution.
KW  - Image correlation
KW  - Image navigation
KW  - Bearings-only tracking
KW  - Phase-only filter
ER  -