UAV Control on the Basis of 3D Landmark Bearing-Only Observations

被引：45

作者：

Karpenko, Simon ^{[1
]}

Konovalenko, Ivan ^{[1
]}

Miller, Alexander ^{[1
]}

Miller, Boris ^{[1
]}

Nikolaev, Dmitry ^{[1
]}

机构：

[1] RAS, Inst Informat Transmiss Problems, Moscow 127051, Russia

来源：

SENSORS | 2015年 / 15卷 / 12期

基金：

俄罗斯科学基金会;

关键词：

UAV; visual odometry; projective geometry; video stream; feature points; modified Kalman filter; control; MOTION; ALGORITHMS; POSITION; SLAM;

D O I：

10.3390/s151229768

中图分类号：

O65 [分析化学];

学科分类号：

070302 ; 081704 ;

摘要：

The article presents an approach to the control of a UAV on the basis of 3D landmark observations. The novelty of the work is the usage of the 3D RANSAC algorithm developed on the basis of the landmarks' position prediction with the aid of a modified Kalman-type filter. Modification of the filter based on the pseudo-measurements approach permits obtaining unbiased UAV position estimation with quadratic error characteristics. Modeling of UAV flight on the basis of the suggested algorithm shows good performance, even under significant external perturbations.

引用

页码：29802 / 29820

页数：19

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