NDLI: UAV attitude and position estimation for vision-based landing

Content Provider	IEEE Xplore Digital Library
Author	Daquan Tang Fei Li Ning Shen Shaojun Guo
Copyright Year	2011
Description	Author affiliation: Dept. of Control Engineering, Naval Aeronautical and Astronautical University, Yantai, Shandong, China (Daquan Tang; Fei Li; Ning Shen; Shaojun Guo)
Abstract	Unmanned Aerial Vehicle (UAV) landing safely is key and difficult on UAV research. In order to improve the security of UAV landing on the flight strip, a vision-based method was presented for attitude and position estimation of it, based a few feature points distributed on the ground arbitrarily. Calculating the attitude and position relative to runway is the core. Firstly, the coordinates in the camera frame of the feature points was acquired with the N-point algorithm; secondly, with the orthogonalization method, the rotation matrix and the translation vector between the camera frame and the runway frame were acquired. For the imaging process of feature points is influenced by noise, the least-median-squares (LMS) algorithm was employed to diminish the influence of noise and to improve the robustness. For improving the efficiency of LMS, the data segmentation technology was used. The simulation indicated that the presented algorithms meet the precision demand of UAV landing.
Starting Page	4446
Ending Page	4450
File Size	1318686
Page Count	5
File Format	PDF
ISBN	9781612840871
e-ISBN	9781612840888
DOI	10.1109/EMEIT.2011.6023131
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-08-12
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Algorithm design and analysis N-point algorithm LMS Orthogonalization Estimation Cameras Educational institutions Robustness Vision landing Aircraft Least squares approximation Data segmentation
Content Type	Text
Resource Type	Article

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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