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Active Landmark Navigation Using a Pan-Tilt Sensor System for Unmanned Aircraft

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/
Dokumentart:Konferenzbeitrag (Vortrag)
Titel:Active Landmark Navigation Using a Pan-Tilt Sensor System for Unmanned Aircraft
Autoren:
AutorenInstitution oder E-Mail-AdresseAutoren-ORCID-iDORCID Put Code
Ammann, Nikolaus AlexanderNikolaus.Ammann (at) dlr.dehttps://orcid.org/0000-0001-6091-4478176483371
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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