Vision-only aircraft flight control methods and test results

Alison A. Proctor, Eric N. Johnson

Research output: Chapter in Book/Report/Conference proceedingConference contribution

23 Scopus citations

Abstract

An unmanned aerial vehicle usually carries an array of sensors whose output is used to estimate the vehicle's attitude, velocity and position. This paper details the development of control strategies for a glider, which is capable of flying from a starting point to a ending location using only a single vision sensor. Using vision to control an aircraft presents a few unique challenges. Firstly, absolute state measurements are not available from an image. Secondly, in order to maintain adequate control of the aircraft, the images must be processed at a fast rate. The image processor utilizes an integral image representation and a rejective cascade filter to find and classify simple features in the images, reducing the image to the most probable pixel location of the objective. The navigation algorithms use an extended Kalman filter to generate state estimates based on measurements obtained from the imagery. The algorithms are tested through the flight testing of a glider instrumented only with a single camera.

Original languageEnglish (US)
Title of host publicationCollection of Technical Papers - AIAA Guidance, Navigation, and Control Conference
PublisherAmerican Institute of Aeronautics and Astronautics Inc.
Pages3136-3151
Number of pages16
ISBN (Print)1563476703, 9781563476709
DOIs
StatePublished - 2004
EventCollection of Technical Papers - AIAA Guidance, Navigation, and Control Conference - Providence, RI, United States
Duration: Aug 16 2004Aug 19 2004

Publication series

NameCollection of Technical Papers - AIAA Guidance, Navigation, and Control Conference
Volume5

Other

OtherCollection of Technical Papers - AIAA Guidance, Navigation, and Control Conference
CountryUnited States
CityProvidence, RI
Period8/16/048/19/04

All Science Journal Classification (ASJC) codes

  • Engineering(all)

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  • Cite this

    Proctor, A. A., & Johnson, E. N. (2004). Vision-only aircraft flight control methods and test results. In Collection of Technical Papers - AIAA Guidance, Navigation, and Control Conference (pp. 3136-3151). [AIAA 2004-5351] (Collection of Technical Papers - AIAA Guidance, Navigation, and Control Conference; Vol. 5). American Institute of Aeronautics and Astronautics Inc.. https://doi.org/10.2514/6.2004-5351