NDLI: Performance Analysis of Camera Rotation Estimation Algorithms in Multi-Sensor Fusion for Unmanned Aircraft Attitude Estimation

Content Provider	Springer Nature Link
Author	Zsedrovits, Tamas Bauer, Peter Hiba, Antal Nemeth, Mate Jani Matyasne Pencz, Borbala Zarandy, Akos Vanek, Bálint Bokor, József
Copyright Year	2016
Abstract	In this paper the possibility to use the camera of the onboard sense and avoid system as an aid in unmanned aircraft attitude estimation is examined. At first, the error analysis of four image processing algorithms targeting the reconstruction of camera orientation change is done. Camera spatial resolution, sampling frequency (temporal resolution), pixelization errors and image noises are all considered in the error analysis. After performing the error analysis, the camera rotation estimates from the two best algorithms are integrated into an IMU (inertial measurement unit)-GPS attitude estimator to obtain a Camera-IMU-GPS estimator. The attitude estimation results of the two algorithms are compared to each other considering hardware-in-the-loop simulated ’flight data’ and simulated camera images. After experiencing estimation error decrease with the augmented Camera-IMU-GPS algorithm a final proof of concept was conducted based-on real flight data. Off-line calculated IMU-GPS and Camera-IMU-GPS estimates were compared to the estimates of the onboard AHRS (attitude heading reference system) algorithm of the test aircraft. Estimation of errors relative to true orientation is done through the visualization of horizon line (obtained from the estimated Euler angles) in the camera image. This shows possible improvement in the precision by applying the Camera-IMU-GPS algorithm, but the considered very short (about 17sec) flight data section makes only the proof of concept possible. Final decision between the algorithms should be made considering long flight test results during the future development.
Starting Page	759
Ending Page	777
Page Count	19
File Format	PDF
ISSN	09210296
Journal	Journal of Intelligent & Robotic Systems
Volume Number	84
Issue Number	1-4
e-ISSN	15730409
Language	English
Publisher	Springer Netherlands
Publisher Date	2016-05-25
Publisher Place	Dordrecht
Access Restriction	Subscribed
Subject Keyword	UAS UAV Sensor fusion IMU GPS Camera Attitude estimation Control, Robotics, Mechatronics Electrical Engineering Artificial Intelligence (incl. Robotics) Mechanical Engineering
Content Type	Text
Resource Type	Article
Subject	Industrial and Manufacturing Engineering Artificial Intelligence Control and Systems Engineering Mechanical Engineering Electrical and Electronic Engineering Software

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
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
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in