elib
DLR-Header
DLR-Logo -> http://www.dlr.de
DLR Portal Home | Imprint | Contact | Deutsch
Fontsize: [-] Text [+]

A Vision-based Navigation Algorithm for a VTOL-UAV

Koch, Andreas and Wittich, Hauke and Thielecke, Frank (2006) A Vision-based Navigation Algorithm for a VTOL-UAV. In: Proceedings of AIAA Guidance, Navigation and Control. AIAA Guidance, Navigation and Control Conference, 2006-08-21 - 2006-08-24, Keystone, CO, USA.

Full text not available from this repository.

Abstract

This paper addresses the implementation and evaluation of a vision-based navigation filter for the Unmanned Aerial Vehicle ARTIS (Autonomous Rotorcraft Testbed for Intelligent Systems). The navigation filter uses vision data from ground feature tracking based on a Lucas-Kanade algorithm in order to compensate GPS-failure. An Extended Kalman Filter (EKF) is used for sensor data fusion. The developed algorithm handles data synchronisation and latency compensation. The filter is evaluated in Software in the Loop (SITL) simulation, in Hardware in the Loop (HITL) simulation and in flight test. Despite the inherent error accumulation the relative navigation approach allows the helicopter a notable area of operation. ARTIS performs stable flight in hover domain using the vision-based navigation approach. The results show the capability of the navigation algorithm to converge and to compensate GPS-failure.

Document Type:Conference or Workshop Item (Paper)
Title:A Vision-based Navigation Algorithm for a VTOL-UAV
Authors:
AuthorsInstitution or Email of Authors
Koch, AndreasUNSPECIFIED
Wittich, HaukeUNSPECIFIED
Thielecke, FrankUNSPECIFIED
Date:August 2006
Journal or Publication Title:Proceedings of AIAA Guidance, Navigation and Control
Editors:
EditorsEmail
AIAA, UNSPECIFIED
Status:Published
Keywords:ARTIS, Sichtbasierte Navigation, Vision-based Navigation, EKF, GPS
Event Title:AIAA Guidance, Navigation and Control Conference
Event Location:Keystone, CO, USA
Event Type:international Conference
Event Dates:2006-08-21 - 2006-08-24
Organizer:AIAA
HGF - Research field:Aeronautics, Space and Transport (old)
HGF - Program:Aeronautics
HGF - Program Themes:Rotorcraft
DLR - Research area:Aeronautics
DLR - Program:L RR - Rotorcraft Research
DLR - Research theme (Project):L - The Smart Rotorcraft
Location: Braunschweig
Institutes and Institutions:Institute of Flight Systems > System Automation
Deposited By: Andreas Koch
Deposited On:07 Jan 2008
Last Modified:27 Apr 2009 14:33

Repository Staff Only: item control page

Browse
Search
Help & Contact
Informationen
electronic library is running on EPrints 3.3.12
Copyright © 2008-2012 German Aerospace Center (DLR). All rights reserved.