Unmanned Aerial Vehicle (UAV) flight control and sensor data acquisition are typically decoupled in intelligence-related missions. In the archetypal case, a UAV flies pre-programmed GPS waypoints while an on-board sensor streams data to a ground control station observed by a human or post-processed for analysis. In this paper, we present work on a simple UAV system that incorporates sensor data to statistically minimize the time to autonomously locate an RF emitter on the ground. The demonstrated system uses a two-stage approach to finding the RF target: (1) randomized Lévy flight to search the ground space and, (2) simplex minimization to home in on the target. Flight tests showed that the UAV consistently located the target within 10 m accuracy in a large outdoor field. Algorithm pseudocode, heat map plots, and supplementary videos of the UAV successfully executing its search task are presented.
Sensor Integrated Navigation for a Target Finding UAV
2014
14 Seiten
Aufsatz (Konferenz)
Englisch
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