Performance Characterization of the Smartphone Video Guidance Sensor as Vision-Based Positioning System

Sensors

卷:20

Richard Howard¹  John Rakoczy²  Ivan Bertaska²  Nasir Hariri³  Hector Gutierrez⁴ 

[1] Avionics Subsystems Branch, NASA Marshall Space Flight Center, Huntsville, AL 35812, USA;

[2] Control Systems Design and Analysis Branch, NASA Marshall Space Flight Center, Huntsville, AL 35812, USA;

[3] Department of Mechanical and Energy Engineering, College of Engineering, Imam Abdulrahman Bin Faisal University, P.O. Box 1982, Dammam 31441, Saudi Arabia;

[4] Mechanical and Aerospace Engineering, Florida Institute of Technology, Melbourne, FL 32901, USA;

关键词: video sensor;    guidance;    navigation;    motion control;    photogrammetry;    attitude;   

DOI  :  10.3390/s20185299

来源: DOAJ

【 摘 要 】

The Smartphone Video Guidance Sensor (SVGS) is a vision-based sensor that computes the six-state position and orientation vector of a target relative to a coordinate system attached to a smartphone. This paper presents accuracy-characterization measurements of the Smartphone Video Guidance Sensor (SVGS) to assess its performance as a position and attitude estimator, evaluating its accuracy in linear and angular motion for different velocities and various types of targets based on the mean and standard deviation errors between SVGS estimates and known motion profiles, in both linear and angular motions. The study also examines the effects of target velocity and sampling rate on the overall performance of SVGS and provides an overall assessment of SVGS’ performance as a position/attitude estimator. While the error metrics are dependent on range and camera resolution, the results of this paper can be scaled to other operational conditions by scaling the blob size in pixels (the light markers identified in the images) relative to the total resolution (number of pixels) of the image. The error statistics of SVGS enable its incorporation (by synthesis of a Kalman estimator) in advanced motion-control systems for navigation and guidance.

【 授权许可】

Unknown