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Full-Text Articles in Engineering
Improvements For Vision-Based Navigation Of Small, Fixed-Wing Unmanned Aerial Vehicles, Robert C. Leishman, Jeremy Gray, John F. Raquet, Adam Rutkowski
Improvements For Vision-Based Navigation Of Small, Fixed-Wing Unmanned Aerial Vehicles, Robert C. Leishman, Jeremy Gray, John F. Raquet, Adam Rutkowski
Faculty Publications
Investigating alternative navigation approaches for use when GPS signals are unavailable is an active area of research across the globe. In this paper we focus on the navigation of small, fixed-wing unmanned aerial vehicles (UAVs) that employ vision-based approaches combined with other measurements as a replacement for GPS. We demonstrate with flight test data that vehicle attitude information, derived from cheap, MEMS-based IMUs is sufficient to improve two different types of vision processing algorithms. Secondly, we show analytically and with flight test data that range measurements to one other vehicle with global pose is sufficient to constrain the global drift …
Navigation Using Vector And Tensor Measurements Of The Earth's Magnetic Anomaly Field, Lauren A. Mount
Navigation Using Vector And Tensor Measurements Of The Earth's Magnetic Anomaly Field, Lauren A. Mount
Theses and Dissertations
This research explores the viability of using a navigation system that relies on measurements of the magnetic anomaly field as an alternative to GPS navigation. Previous research has been conducted on developing a navigation system using the intensity of the Earth's magnetic anomaly field as an alternative signal. This research focuses on using vector and tensor measurements, as opposed to scalar measurements of the anomaly field, as a means of obtaining accurate position and orientation solutions. This paper presents two navigation systems. The first uses an Extended Kalman Filter (EKF) with vector measurements of the magnetic anomaly field to aid …