This paper presents an aircraft attitude and heading estimator using catadioptric images as a principal sensor for UAV or as a redundant system for IMU (Inertial Measure Unit) and gyro sensors. First, the authors explain how the unified theory for central catadioptric cameras is used for attitude and heading estimation, explaining how the skyline is projected on the catadioptric image and how it is segmented and used to calculate the UAV's attitude. Then, the authors use appearance images to obtain a visual compass, and they calculate the relative rotation and heading of the aerial vehicle. Finally the tests and results using the UAV COLIBRI platform and the validation of them in real flights are presented, comparing the estimated data with the inertial values measured on board.
Omnidirectional vision applied to Unmanned Aerial Vehicles (UAVs) attitude and heading estimation
Rundumsichtanwendung auf die Einstellungs- und Steuerkursschätzung bei unbemannten Luftfahrtzeugen
Robotics and Autonomous Systems ; 58 , 6 ; 809-819
2010
11 Seiten, 14 Bilder, 3 Tabellen, 27 Quellen
Article (Journal)
English
Omnidirectional vision applied to Unmanned Aerial Vehicles (UAVs) attitude and heading estimation
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