A DSP embedded optical navigation system

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.