【摘 要】
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In spite of successes in VTOL UAVs application, there still hold a challenge onreal-time andaccurate state estimation during autonomous landing.This paper presents asignificant pose measure system bas
【机 构】
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School of Navigation, Wuhan University of Technology, Wuhan Hubei 430063, China
【出 处】
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第13届全国博士生学术年会——物联网专题
论文部分内容阅读
In spite of successes in VTOL UAVs application, there still hold a challenge onreal-time andaccurate state estimation during autonomous landing.This paper presents asignificant pose measure system based on vision technologythat could obtainthe UAVs position and attitude without otheron-board sensors real time.In the system, a robust algorithm is proposed to detect special markers (LEDs owning fixed flicker frequency) mounted around maritime UAV well, which could recognize target by its frequency feature from complicated background.In actual process, there exist vast noises, i.e.Gaussian noise.Hence, Particle Filtering is suggested to filter the useful information from mixed observations and smooth the entire UAVs flight trajectory.Usingthe method mainly, we have expect to improve maritime UAVsautonomy, make it have the ability oftake-offor landing on special habitat for a temporary rest where the vehicle could recharge or avoid dangers, like bad weather.Finally, the visualnavigation system for UAV is tested with our small quadrotor that hasgood performance on mobility, and results show it works well.
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