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Visual Target Tracking and Relative Navigation for Unmanned Aerial Vehicles in a GPS-Denied Environment

Kim, Youngjoo;Jung, Wooyoung;Bang, Hyochoong

  • Received : 2014.06.04
  • Accepted : 2014.09.04
  • Published : 2014.09.30

Abstract

We present a system for the real-time visual relative navigation of a fixed-wing unmanned aerial vehicle in a GPS-denied environment. An extended Kalman filter is used to construct a vision-aided navigation system by fusing the image processing results with barometer and inertial sensor measurements. Using a mean-shift object tracking algorithm, an onboard vision system provides pixel measurements to the navigation filter. The filter is slightly modified to deal with delayed measurements from the vision system. The image processing algorithm and the navigation filter are verified by flight tests. The results show that the proposed aerial system is able to maintain circling around a target without using GPS data.

Keywords

unmanned aerial vehicle;target tracking;relative navigation;delayed measurement;GPS-denied;vision-aided navigation;extended Kalman filter

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Cited by

  1. Monocular Vision-Based Guidance and Control for a Formation Flight vol.16, pp.4, 2015, https://doi.org/10.5139/IJASS.2015.16.4.581
  2. High-Precision Heading Determination Based on the Sun for Mars Rover vol.2018, pp.1687-7977, 2018, https://doi.org/10.1155/2018/1493954
  3. A low-cost solution for unmanned aerial vehicle navigation in a global positioning system–denied environment vol.14, pp.6, 2018, https://doi.org/10.1177/1550147718781750

Acknowledgement

Supported by : Ministry of Knowledge Economy (MKE)