UAV Control on the Basis of 3D Landmark Bearing-Only Observations

Sensors

Boris Miller¹  Alexander Miller¹  Dmitry Nikolaev¹  Simon Karpenko¹  Ivan Konovalenko¹ 

[1]Institute for Information Transmission Problems RAS, Bolshoy Karetny per. 19, Build. 1, GSP-4, Moscow 127051, Russia

关键词: UAV;    visual odometry;    projective geometry;    video stream;    feature points;    modified Kalman filter;    control;   

DOI  :  10.3390/s151229768

来源: DOAJ

【 摘 要 】

The article presents an approach to the control of a UAV on the basis of 3D landmark observations. The novelty of the work is the usage of the 3D RANSAC algorithm developed on the basis of the landmarks’ position prediction with the aid of a modified Kalman-type filter. Modification of the filter based on the pseudo-measurements approach permits obtaining unbiased UAV position estimation with quadratic error characteristics. Modeling of UAV flight on the basis of the suggested algorithm shows good performance, even under significant external perturbations.

【 授权许可】

Unknown