VISION-BASED RELATIVE POSITION ESTIMATION AND INTERCEPT TRAJECTORY PLANNING FOR SMALL UNMANNED AIRCRAFT SYSTEMS

dc.contributor.advisorYakimenko, Oleg A.
dc.contributor.authorTan, Kang Hao
dc.contributor.departmentSystems Engineering (SE)
dc.contributor.secondreaderPapoulias, Fotis A.
dc.date.accessioned2019-11-04T18:20:26Z
dc.date.available2019-11-04T18:20:26Z
dc.date.issued2019-09
dc.description.abstractThe proliferation of unmanned aircraft systems (UAS) has contributed to the asymmetric threat of malevolent actors exploiting this technology for mischief or harm. Existing ground-based solutions are limited by line of sight, while human-operated responder drones can be less responsive and more labor-intensive. Hence, there is a capability requirement for autonomous vision-based pursuit and interception of unauthorized drones. To address this, the author developed a computer vision (CV) algorithm to detect, track and estimate the relative position and range of a hovering and moving airborne small UAS target in field conditions. CV-based measurements were compared against GPS data, to assess the range and angular estimation performance of the CV algorithm. Then, the CV-estimated range and angular information was processed by a flight control algorithm utilizing simple angular guidance principle to pursue and intercept the target. Field tests of the algorithm were done using a prototype drone. This research will inform the conceptual design and choice of hardware implementation for a commercial-off-the-shelf-based counter-UAS capability. More broadly, the research contributes to the body of knowledge in autonomous object tracking applications.en_US
dc.description.distributionstatementApproved for public release; distribution is unlimited.
dc.description.recognitionOutstanding Thesisen_US
dc.description.serviceMajor, Republic of Singapore Air Forceen_US
dc.description.urihttp://archive.org/details/visionbasedrelat1094563509
dc.identifier.thesisid32725
dc.identifier.urihttps://hdl.handle.net/10945/63509
dc.publisherMonterey, CA; Naval Postgraduate Schoolen_US
dc.relation.ispartofseriesNPS Outstanding Theses and Dissertations
dc.rightsCopyright is reserved by the copyright owner.en_US
dc.subject.authorcomputer visionen_US
dc.subject.authorobject detectionen_US
dc.subject.authorobject trackingen_US
dc.subject.authorposition estimationen_US
dc.subject.authornavigationen_US
dc.subject.authortrajectoryen_US
dc.subject.authorUASen_US
dc.subject.authordroneen_US
dc.titleVISION-BASED RELATIVE POSITION ESTIMATION AND INTERCEPT TRAJECTORY PLANNING FOR SMALL UNMANNED AIRCRAFT SYSTEMSen_US
dc.typeThesisen_US
dspace.entity.typePublication
etd.thesisdegree.disciplineSystems Engineeringen_US
etd.thesisdegree.grantorNaval Postgraduate Schoolen_US
etd.thesisdegree.levelMastersen_US
etd.thesisdegree.nameMaster of Science in Systems Engineeringen_US
relation.isSeriesOfPublicationc5e66392-520c-4aaf-9b4f-370ce82b601f
relation.isSeriesOfPublication.latestForDiscoveryc5e66392-520c-4aaf-9b4f-370ce82b601f
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