The purpose of this project is to develop and integrate a prototype multicopter Unmanned Aerial Vehicle (UAV) with a vision-based algorithm to enable a relative position hold capability. The resulting solution will enable automatic operation of a UAV with respect to another visually detectable object without use of GPS receiver or when GPS signal is not available. Navigating a robot in a GPS-denied environment is a desired feature in many applications, including Maritime Interdiction Operations. While automatically maintaining its relative position with respect to a given target, the onboard system will also provide video coverage of “blind spots” and network relay between the boarding team and ship.
Vision-Based Position Estimation Utilizing an Extended Kalman Filter
2016
69 pages
Report
Keine Angabe
Englisch
Adaptive iterated extended kalman filter for relative spacecraft attitude and position estimation
British Library Online Contents | 2018
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