Ammann, Nikolaus Alexander (2024) Active Landmark Navigation Using a Pan-Tilt Sensor System for Unmanned Aircraft. In: 2024 IEEE Aerospace Conference, AERO 2024. IEEE - Institute of Electrical and Electronics Engineers. IEEE Aerospace Conference 2025, Big Sky, Montana, USA. doi: 10.1109/AERO58975.2024.10521165. ISBN 979-835030462-6. ISSN 1095-323X.
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Kurzfassung
This paper presents an approach on how to integrate pan-tilt camera systems into the state estimation of unmanned aircraft to introduce an additional source of navigation data. The proposed state estimation algorithm based on an Unscented Kalman Filter is presented with an additional augmentation of the measurement model to cope for the uncertainties introduced by the pan-tilt unit of the camera system. Furthermore, the correlation of the visual measurements due to the common pan and tilt axes of the camera system is addressed. Second, the advantages of using an actively controlled pan-tilt camera system in the context of landmark-based navigation are shown. The navigation performance of such an actively controlled camera system is compared against fixed camera systems. Furthermore, the focal length aka. zoom is taken into account to further motivate the use of those actively controlled pan-tilt camera systems. The comparison is based on a Matlab/Simulink simulation environment providing measurements like inertial, magnetic or barometric sensor data as well as emulated landmark tracking data. Finally, an outlook on future flight tests using an 85 kg unmanned helicopter is given.
elib-URL des Eintrags: | https://elib.dlr.de/201998/ | ||||||||
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Dokumentart: | Konferenzbeitrag (Vortrag) | ||||||||
Titel: | Active Landmark Navigation Using a Pan-Tilt Sensor System for Unmanned Aircraft | ||||||||
Autoren: |
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Datum: | 2024 | ||||||||
Erschienen in: | 2024 IEEE Aerospace Conference, AERO 2024 | ||||||||
Referierte Publikation: | Ja | ||||||||
Open Access: | Nein | ||||||||
Gold Open Access: | Nein | ||||||||
In SCOPUS: | Ja | ||||||||
In ISI Web of Science: | Nein | ||||||||
DOI: | 10.1109/AERO58975.2024.10521165 | ||||||||
Verlag: | IEEE - Institute of Electrical and Electronics Engineers | ||||||||
ISSN: | 1095-323X | ||||||||
ISBN: | 979-835030462-6 | ||||||||
Status: | veröffentlicht | ||||||||
Stichwörter: | Landmarks, Navigation, Localization, UAS, Unmanned Aircraft, Pan Tilt Unit, PTU | ||||||||
Veranstaltungstitel: | IEEE Aerospace Conference 2025 | ||||||||
Veranstaltungsort: | Big Sky, Montana, USA | ||||||||
Veranstaltungsart: | internationale Konferenz | ||||||||
HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | ||||||||
HGF - Programm: | Luftfahrt | ||||||||
HGF - Programmthema: | Komponenten und Systeme | ||||||||
DLR - Schwerpunkt: | Luftfahrt | ||||||||
DLR - Forschungsgebiet: | L CS - Komponenten und Systeme | ||||||||
DLR - Teilgebiet (Projekt, Vorhaben): | L - Unbemannte Flugsysteme | ||||||||
Standort: | Braunschweig | ||||||||
Institute & Einrichtungen: | Institut für Flugsystemtechnik > Unbemannte Luftfahrzeuge Institut für Flugsystemtechnik | ||||||||
Hinterlegt von: | Ammann, Nikolaus Alexander | ||||||||
Hinterlegt am: | 23 Jan 2025 16:56 | ||||||||
Letzte Änderung: | 23 Jan 2025 16:56 |
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