UAV Landing Based on the Optical Flow Videonavigation
| Autor: | A. K. Popov, Karen Stepanyan, Boris M. Miller, Alexander B. Miller |
|---|---|
| Jazyk: | angličtina |
| Rok vydání: | 2019 |
| Předmět: |
Flight altitude
0209 industrial biotechnology Computer science UAV Optical flow ComputingMethodologies_IMAGEPROCESSINGANDCOMPUTERVISION ComputerApplications_COMPUTERSINOTHERSYSTEMS 02 engineering and technology lcsh:Chemical technology Biochemistry Automatic landing Article Analytical Chemistry optical flow 020901 industrial engineering & automation Altitude 0202 electrical engineering electronic engineering information engineering landing Computer vision lcsh:TP1-1185 Altimeter Electrical and Electronic Engineering Instrumentation Angular displacement business.industry video navigation Atomic and Molecular Physics and Optics 020201 artificial intelligence & image processing Runway Onboard camera Artificial intelligence Kalman filter business |
| Zdroj: | Sensors (Basel, Switzerland) Sensors, Vol 19, Iss 6, p 1351 (2019) Sensors Volume 19 Issue 6 |
| ISSN: | 1424-8220 |
| Popis: | An automatic landing of an unmanned aerial vehicle (UAV) is a non-trivial task requiring a solution of a variety of technical and computational problems. The most important is the precise determination of altitude, especially at the final stage of approaching to the earth. With current altimeters, the magnitude of measurement errors at the final phase of the descent may be unacceptably high for constructing an algorithm for controlling the landing manoeuvre. Therefore, it is desirable to have an additional sensor, which makes possible to estimate the height above the surface of the runway. It is possible to estimate all linear and angular UAV velocities simultaneously with the help of so-called optical flow (OF), determined by the sequence of images recorded by an onboard camera, however in pixel scale. To transform them into the real metrical values it is necessary to know the current flight altitude and the camera angular position values. The critical feature of the OF is its susceptibility to the camera resolution and the shift rate of the observed scene. During the descent phase of flight, these parameters change at least one hundred times together with the altitude. Therefore, for reliable application of the OF one needs to coordinate the shooting parameters with the current altitude. However, in case of the altimeter fault presence, the altitude is also still to be estimated with the aid of the OF, so one needs to have another tool for the camera control. One of the possible and straightforward ways is the camera resolution change by pixels averaging in computer part which performed in coordination with theoretically estimated and measured OF velocity. The article presents results of such algorithms testing from real video sequences obtained in flights with different approaches to the runway with simultaneous recording of telemetry and video data. |
| Databáze: | OpenAIRE |
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