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.


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    Title :

    Sensor Integrated Navigation for a Target Finding UAV


    Contributors:


    Publication date :

    2014


    Size :

    14 Seiten





    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English




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