Implementation of a 3D Imaging Sensor Aided Inertial Measurement Unit Navigation System

Title:	Implementation of a 3D Imaging Sensor Aided Inertial Measurement Unit Navigation System
Author:	Venable, Donald T.
Description:	This thesis describes an implementation of a 3D imaging sensor aided Inertial Measurement Unit navigation system. The thesis describes previous efforts in the area of alternative navigation, and describes current 3D imaging navigation techniques. The thesis then describes a method of extracting planar surfaces from acquired 3D data. Also described is methodology describing the association of planar surfaces between 3D camera frames. The method of calculating a position solution from extracted and associated planar surfaces is described, along with the implementation of a complimentary Kalman filter to provide a tightly integrated navigation solution between the 3D imaging sensor and the Inertial Measurement Unit. Two tests were performed with the proposed methodology, and an accurate navigation solution was demonstrated to be obtainable.
Permanent Link:	http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1218764810 http://hdl.handle.net/2374.OX/108421
Date:	2008

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