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http://dx.doi.org/10.5139/JKSAS.2010.38.4.342

Attitudes Estimation for the Vision-based UAV using Optical Flow  

Jo, Seon-Yeong (부산대학교 항공우주공학과 대학원)
Kim, Jong-Hun (부산대학교 항공우주공학과 대학원)
Kim, Jung-Ho (부산대학교 항공우주공학과 대학원)
Cho, Kyeum-Rae (부산대학교 항공우주공학과)
Lee, Dae-Woo (부산대학교 항공우주공학과)
Publication Information
Journal of the Korean Society for Aeronautical & Space Sciences / v.38, no.4, 2010 , pp. 342-351 More about this Journal
Abstract
UAV (Unmanned Aerial Vehicle) have an INS(Inertial Navigation System) equipment and also have an electro-optical Equipment for mission. This paper proposes the vision based attitude estimation algorithm using Kalman Filter and Optical flow for UAV. Optical flow is acquired from the movie of camera which is equipped on UAV and UAV's attitude is measured from optical flow. In this paper, Kalman Filter has been used for the settlement of the low reliability and estimation of UAV's attitude. Algorithm verification was performed through experiments. The experiment has been used rate table and real flight video. Then, this paper shows the verification result of UAV's attitude estimation algorithm. When the rate table was tested, the error was in 2 degree and the tendency was similar with AHRS measurement states. However, on the experiment of real flight movie, maximum yaw error was 21 degree and Maximum pitch error was 7.8 degree.
Keywords
Optical Flow; Kalman Filter; Mono vision based attitude estimation;
Citations & Related Records
Times Cited By KSCI : 2  (Citation Analysis)
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