TY - JOUR
T1 - On an optical inertial navigation system - Part II
AU - Iyer, Ram
AU - Toda, Magda
AU - Holsapple, Raymund
N1 - Funding Information:
Manuscript received November 8, 2006; revised August 22, 2007. Current version published September 24, 2008. This work was supported by a NRC/ AFOSR summer faculty fellowship in 2004, a ASEE/AFOSR summer faculty fellowship and by an NSF REU and DOD ASSURE grant DMS 0552908 during Summer 2006, and an Air Vehicles Directorate graduate student assistantship during summer 2004 and spring 2005. Recommended by Associate Editor J. P. Hespanha.
PY - 2008
Y1 - 2008
N2 - In Part I, we developed the optical transfer function of the lens-fiber system for quasi-monochromatic, incoherent excitation, and studied the properties of the kernel function. We also studied the cross-talk between the fibers of the lens-fiber system for a worker bee and an artificial eye, and showed that it is not significant. This allows us in this paper, to consider a mathematical idealization of a corneal surface as a continuum of lens-fiber systems. We consider this surface to be a regular immersion of class r≥ 2 that is the image in R3 of a simply connected, open set in R2. We study the change in the power propagated in the fiber due to virtual motions of the corneal surface and show that for motion along the axis, the power propagated is invariant. Finally, we show that the ego-motion estimation problem is well-posed for sufficiently rich quasi-monochromatic, incoherent excitation on an allowable, regular corneal surface, and further show that the solution does not depend on the parameterization of the surfaces or the parameters of the aircraft (such as mass and inertia matrix) on which the ONS is mounted.
AB - In Part I, we developed the optical transfer function of the lens-fiber system for quasi-monochromatic, incoherent excitation, and studied the properties of the kernel function. We also studied the cross-talk between the fibers of the lens-fiber system for a worker bee and an artificial eye, and showed that it is not significant. This allows us in this paper, to consider a mathematical idealization of a corneal surface as a continuum of lens-fiber systems. We consider this surface to be a regular immersion of class r≥ 2 that is the image in R3 of a simply connected, open set in R2. We study the change in the power propagated in the fiber due to virtual motions of the corneal surface and show that for motion along the axis, the power propagated is invariant. Finally, we show that the ego-motion estimation problem is well-posed for sufficiently rich quasi-monochromatic, incoherent excitation on an allowable, regular corneal surface, and further show that the solution does not depend on the parameterization of the surfaces or the parameters of the aircraft (such as mass and inertia matrix) on which the ONS is mounted.
KW - Optical inertial navigation system (ONS)
UR - http://www.scopus.com/inward/record.url?scp=54049147331&partnerID=8YFLogxK
U2 - 10.1109/TAC.2008.929390
DO - 10.1109/TAC.2008.929390
M3 - Article
AN - SCOPUS:54049147331
SN - 0018-9286
VL - 53
SP - 1864
EP - 1875
JO - IEEE Transactions on Automatic Control
JF - IEEE Transactions on Automatic Control
IS - 8
ER -