A DSP embedded optical navigation system

Author

Gunnam, K. ; Hughes, D.C. ; Junkins, J.L. ; Kehtornavaz, N.

Author_Institution

Dept. of Electr. Eng., Texas A&M Univ., College Station, TX, USA

Volume

2

fYear

2002

fDate

26-30 Aug. 2002

Firstpage

1735

Abstract

Six degrees of freedom (6DOF) data estimation has a wide range of applications in navigation, proximity operations, manufacturing and robotic control. This paper presents an optimal and computationally efficient 6DOF estimation algorithm using modified Rodrigues parameters. The analytical results of the estimation algorithm and also its computational results on a low power floating point DSP, the TMS320VC33, are presented. A new approach involving frequency division multiplexing of the beacons for a vision based navigation system and the demodulation on a low power fixed point DSP, the TMS320C55x, is introduced in order to improve the accuracy of the sensor measurements and the reliability of the system.

Keywords

aerospace computing; aerospace control; aircraft navigation; computer vision; demodulation; digital signal processing chips; embedded systems; frequency division multiplexing; optimisation; parameter estimation; 6DOF; TMS320C55x; TMS320VC33; beacons; data estimation; degrees of freedom; demodulation; embedded optical navigation system; floating point DSP; frequency division multiplexing; low power DSP; modified Rodrigues parameters; optimal estimation; reliability; sensor measurements; vision based navigation; Algorithm design and analysis; Demodulation; Digital signal processing; Frequency division multiplexing; Machine vision; Manufacturing; Navigation; Optical sensors; Power system reliability; Robot control;

fLanguage

English

Publisher

ieee

Conference_Titel

Signal Processing, 2002 6th International Conference on

Print_ISBN

0-7803-7488-6

Type

conf

DOI

10.1109/ICOSP.2002.1180137

Filename

1180137