LPV systems with brief instabilities: Application to integrated vision/IMU navigation

This paper describes an application of recently developed results on linear parametrically varying systems (LPVs) with brief instabilities reported in [3] to the problem of designing a nonlinear vision/inertial navigation filter for an aircraft approaching an aircraft carrier is included. The results developed provide the proper framework to deal with out-of-frame events that arise when the vision system loses its target temporarily. Field tests with a prototype unmanned air vehicle illustrate the performance of the filter and illustrate the scope of applications of the new theory.