Optimization of Motion Planning and Navigation for Aerial Vehicles with Differential Constraints through Analysis and Control of its Observability

在未知环境中运行的单相机图像导航系统必须解决一个基本的缩放问题。这意味着，不可能区分远距离快速移动的物体和近距离缓慢移动的物体。在某些情况下，额外的惯性传感允许解决这种模糊性。确定这种模糊性解决的相关条件是项目第一阶段的一个主要目标。在运动规划中考虑了这些条件，从而解决了缩放问题，从而系统地改善了导航性能。为了确定位置，除了缩放问题外，还需要飞行器的重新访问能力。允许这种重新访问的方法在文献中是可用的，然而，这些主要是基于启发式。缺少一种理论上的处理方法，为重新访问循环提供系统的程序（即何时以及在何种程度上需要它们）。这项建议旨在缩小这一差距。为此，应推导出可实现的导航估计性能的广义度量。在此基础上，提出了考虑固定翼飞行器差分约束的综合运动规划和包括位置导航的理论方法。

Image-based navigation systems with mono-cameras that are operated in unknown environments have to cope with a fundamental scaling problem. This means, it is not possible to distinguish between far distant and fast moving objects and close objects that are moving slowly. In some situations, additional inertial sensing allows to solve this ambiguity. The determination of the associated conditions for such an ambiguity resolution was one major objective of the first project phase. These conditions were considered in the motion planning, which allowed a solution of the scaling problem and thus, a systematic improvement of the navigation performance. In order to determine the position in addition to the scaling problem, a re-visiting capability of the aerial vehicle is required. Methods that allow such re-visits are available in literature, however, these are mainly based on heuristics. A theoretical treatment that provides a systematic procedure for re-visiting loops (i.e. when and to which extent they are required) is missing. This proposal aims at closing this gap. To this end, a generalized metric for the achievable navigation estimation performance shall be derived. On this basis, a theoretical approach shall be developed for the integrated motion planning and navigation, including positions, taking into account the differential constraints of a fixed wing aerial vehicle.