Wide-field optical flow aided inertial navigation for unmanned aerial vehicles

Matthew Brandon Rhudy, Haiyang Chao, Yu Gu

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

9 Scopus citations

Abstract

Low-cost navigation can be performed for aircraft using the integration of Inertial Navigation System (INS) information in conjunction with a regulatory information source, such as Global Position System (GPS). For situations where GPS is unavailable, it is desirable to have an alternative information source in order to regulate the known drifting phenomenon experienced by INS. In this paper, the use of wide-field optical flow is explored to regulate INS drift for the purpose of GPS-denied navigation. An Unscented Information Filter (UIF) algorithm for Unmanned Aerial Vehicle (UAV) velocity and attitude estimation is proposed and evaluated with experimental flight data. The results demonstrate that the new filtering algorithm is capable of estimating the vehicle speed with approximately 1.4 m/s of error and regulating attitude errors to within 1.5 degrees standard deviation of error for both roll and pitch angles.

Original languageEnglish (US)
Title of host publicationIROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages674-679
Number of pages6
ISBN (Electronic)9781479969340
DOIs
StatePublished - Oct 31 2014
Event2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014 - Chicago, United States
Duration: Sep 14 2014Sep 18 2014

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Other

Other2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014
CountryUnited States
CityChicago
Period9/14/149/18/14

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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