Vision-based position estimation utilizing an extended Kalman filter

Loading...
Thumbnail Image
Authors
Testa, Joseph B., III
Subjects
UAV
ROS
extended Kalman filter
Matlab
Simulink
position estimation
Advisors
Dobrokhodov, Vladimir
Bingham, Brian
Date of Issue
2016-12
Date
Dec-16
Publisher
Monterey, California: Naval Postgraduate School
Language
Abstract
The purpose of this project is to develop and integrate a prototype multicopter Unmanned Aerial Vehicle (UAV) with a vision-based algorithm to enable a relative position hold capability. The resulting solution will enable automatic operation of a UAV with respect to another visually detectable object without use of GPS receiver or when GPS signal is not available. Navigating a robot in a GPS-denied environment is a desired feature in many applications, including Maritime Interdiction Operations. While automatically maintaining its relative position with respect to a given target, the onboard system will also provide video coverage of blind spots and network relay between the boarding team and ship.
Type
Thesis
Description
Series/Report No
Department
Mechanical and Aerospace Engineering (MAE)
Organization
Identifiers
NPS Report Number
Sponsors
Funder
Format
Citation
Distribution Statement
Approved for public release; distribution is unlimited.
Rights
This publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. Copyright protection is not available for this work in the United States.
Collections