scholarly journals Unmanned Aerial Vehicle Navigation Using Wide-Field Optical Flow and Inertial Sensors

2015 ◽  
Vol 2015 ◽  
pp. 1-12 ◽  
Author(s):  
Matthew B. Rhudy ◽  
Yu Gu ◽  
Haiyang Chao ◽  
Jason N. Gross
Keyword(s):  
Optical Flow ◽  
Unmanned Aerial Vehicle ◽  
Inertial Sensors ◽  
Wide Field ◽  
Flight Data ◽  
Information Filter ◽  
Full State ◽  
Flow Information ◽  
Aerial Vehicle ◽  
Image Distance

This paper offers a set of novel navigation techniques that rely on the use of inertial sensors and wide-field optical flow information. The aircraft ground velocity and attitude states are estimated with an Unscented Information Filter (UIF) and are evaluated with respect to two sets of experimental flight data collected from an Unmanned Aerial Vehicle (UAV). Two different formulations are proposed, a full state formulation including velocity and attitude and a simplified formulation which assumes that the lateral and vertical velocity of the aircraft are negligible. An additional state is also considered within each formulation to recover the image distance which can be measured using a laser rangefinder. The results demonstrate that the full state formulation is able to estimate the aircraft ground velocity to within 1.3 m/s of a GPS receiver solution used as reference “truth” and regulate attitude angles within 1.4 degrees standard deviation of error for both sets of flight data.

scholarly journals A low-cost solution for unmanned aerial vehicle navigation in a global positioning system–denied environment

2018 ◽  
Vol 14 (6) ◽  
pp. 155014771878175 ◽  
Author(s):  
Shahrukh Ashraf ◽  
Priyanka Aggarwal ◽  
Praveen Damacharla ◽  
Hong Wang ◽  
Ahmad Y Javaid ◽  
...  
Keyword(s):  
Optical Flow ◽  
Unmanned Aerial Vehicle ◽  
Global Positioning System ◽  
Motion Vector ◽  
Block Matching ◽  
Positioning System ◽  
Simulation Studies ◽  
Flow Measurements ◽  
Global Positioning ◽  
Aerial Vehicle

The ability of an autonomous unmanned aerial vehicle to navigate and fly precisely determines its utility and performance. The current navigation systems are highly dependent on the global positioning system and are prone to error because of global positioning system signal outages. However, advancements in onboard processing have enabled inertial navigation algorithms to perform well during short global positioning system outages. In this article, we propose an intelligent optical flow–based algorithm combined with Kalman filters to provide the navigation capability during global positioning system outages and global positioning system–denied environments. Traditional optical flow measurement uses block matching for motion vector calculation that makes the measurement task computationally expensive and slow. We propose the application of an artificial bee colony–based block matching technique for faster optical flow measurements. To effectively fuse optical flow data with inertial sensors output, we employ a modified form of extended Kalman filter. The modifications make the filter less noisy by utilizing the redundancy of sensors. We have achieved an accuracy of ~95% for all non-global positioning system navigation during our simulation studies. Our real-world experiments are in agreement with the simulation studies when effects of wind are taken into consideration.

scholarly journals Adaptive Visual Servoing for Obstacle Avoidance of Micro Unmanned Aerial Vehicle with Optical Flow and Switched System Model

Processes ◽  
2021 ◽  
Vol 9 (12) ◽  
pp. 2126
Author(s):  
Ming-Li Chiang ◽  
Shun-Hung Tsai ◽  
Cheng-Ming Huang ◽  
Kuang-Tin Tao
Keyword(s):  
Adaptive Control ◽  
Optical Flow ◽  
Obstacle Avoidance ◽  
Visual Servoing ◽  
Switching System ◽  
Flight Direction ◽  
Control Scheme ◽  
Flow Information ◽  
Aerial Vehicle ◽  
Switching Controller

A vision-based adaptive switching controller that uses optical flow information to avoid obstacles for micro unmanned aerial vehicles (MUAV) is proposed in this paper. To use the optical flow to indicate the distance between the MUAV and the environment, we propose an algorithm with multi-thread processing such that the optical flow information is obtained reliably and continuously in the entire camera field of view. The flying behavior of considered MUAV is regarded as a switching system when considering different flying modes during the mission of obstacle avoidance. By the required flight direction for obstacle avoidance specified by the detected optical flow, an adaptive control scheme is designed to track the required trajectory in switching modes. The simulation result shows the tracking performances of the adaptive control with the switching system. The experiment of the whole system is completed to verify the obstacle avoidance capability of our system.

scholarly journals The IMPLEMENTATION OF AUTONOMOUS WAYPOINT IN RECONNAISSANCE PLANE (UNMANNED AERIAL VEHICLE) UAV GALAK-24 USE WITH MISSION PLANNER

2021 ◽  
Vol 2 (Oktober) ◽  
pp. 47-55
Author(s):  
Luthfan Herlambang ◽  
Eko Kuncoro ◽  
Muhamat Maariful Huda
Keyword(s):  
Remote Control ◽  
Unmanned Aerial Vehicle ◽  
Flight Data ◽  
Air Vehicle ◽  
Aerial Vehicle ◽  
The Military

Abstract: UAV or unmanned aerial vehicle is an air vehicle or what we often call an airplane that is controlled without a crew but controlled by a pilot remotely using a remote control. This study uses quantitative experiment methods because in this study it must be carried out when the UAV is flying using the autonomous waypoint method. Running the UAV with the autonomous waypoint method, we can use the Mission Planner software. First, we have to install the application on the mission planner and install pixhawk on the UAV which will act as the UAV brain that will receive and execute flight commands that will be sent by the mission planner later. The mission planner can also directly display flight data such as UAV altitude, UAV speed, UAV location, then the mission planner can also store flight data run by the UAV. The Autonomous waypoint method has been widely used in the military field, such as to carry out attacks on the enemy, reconnaissance, and patrol in an area quickly, and can also reduce casualties during combat operations.

Application of INS/Optical Flow/Magnetometer/Barometer Integrated Navigation System in Unmanned Aerial Vehicle

2017 ◽  
Vol 54 (2) ◽  
pp. 022801
Author(s):  
李涛 Li Tao ◽  
梁建琦 Liang Jianqi ◽  
闫浩 Yan Hao ◽  
朱志飞 Zhu Zhifei ◽  
唐军 Tang Jun
Keyword(s):  
Optical Flow ◽  
Unmanned Aerial Vehicle ◽  
Navigation System ◽  
Integrated Navigation ◽  
Integrated Navigation System ◽  
Aerial Vehicle
Sign in / Sign up

Export Citation Format

Share Document