Vision-based navigation for autonomous landing of Unmanned Aerial Vehicles
Ghyzel, Paul A.
Kaminer, Isaac I.
Yakimenko, Oleg A.
MetadataShow full item record
The role of Unmanned Aerial Vehicles (UAV) for modern military operations is expected to expand in the 21st Century, including increased deployment of UAVs from Navy ships at sea. Autonomous operation of UAVs from ships at sea requires the UAV to land on a moving ship using only passive sensors installed in the UAV. This thesis investigates the feasibility of using passive vision sensors installed in the UAV to estimate the UAV position relative to the moving platform. A navigation algorithm based on photogrammetry and perspective estimation is presented for numerically determining the relative position and orientation of an aircraft with respect to a ship that possesses three visibly significant points with known separation distances. Original image processing algorithms that reliably locate visually significant features in monochrome images are developed. Monochrome video imagery collected during flight test with an infrared video camera mounted in the nose of a UAV during actual landing approaches is presented. The navigation and image processing algorithms are combined to reduce the flight test images into vehicle position estimates. These position estimates are compared to truth data to demonstrate the feasibility of passive, vision-based sensors for aircraft navigation. Conclusions are drawn, and recommendations for further study are presented
Approved for public release; distribution is unlimited
Showing items related by title, author, creator and subject.
Examination of the feasibility of detection of calcium evaporation from a type B dispenser cathode by laser induced phenomena. Eason, Virginia L. (Air Force Institute of Technology, Air University, 1983-03);Three methods, laser induced resonance fluorescence, excitation to a shorter lived level from a metastable level, and ionization spectroscopy are examined for feasibility of detecting and measuring calcium evaporation ...
Butrym, Kenneth Patrick; Avedissian, Hagop Avedis (Monterey, California. Naval Postgraduate School, 1988-06);This thesis examines the feasibility of using the compact disc-read only memory (CD-ROM) as the storage medium for the Department of Defense (DOD) construction contracting. Specifically, the DOD sponsored program, headed ...
Statnikov, Roman; Anil, Kivanc Ali; Bordetsky, Alex; Statnikov, Alexander (2008);One of the basic engineering optimization problems is improvement of the prototype. This problem is often encountered by industrial and academic organizations that produce and design various objects (e.g. motor ...