**Kaminer et al. 2001 :** The problem of navigation system design for
autonomous aircraft landing is addressed. New nonlinear filter structures are
introduced to estimate the position and velocity of an aircraft with respect to
a possibly moving landing site, such as a naval vessel, based on measurements
provided by airborne vision and inertial sensors. By
exploring the geometry of the navigation problem, the navigation filter
dynamics are cast in the framework of linear parametrically varying systems (LPVs).
Using this set-up, filter performance and stability are studied in an H_{∞}
setting by resorting to the theory of linear matrix inequalities (LMIs). The
design of nonlinear, regionally stable filters to meet adequate H_{∞}
performance measures is thus converted into that of determining the feasibility
of a related set of LMIs and finding a solution to them, if it exists. This is
done by using-widely available numerical tools that borrow from convex
optimization techniques. The mathematical framework that is required for
integrated vision/inertial navigation system design
is developed and a design example for an air vehicle
landing on an aircraft carrier is detailed.