Mathematical model of inertial-optical autonomous navigation complex of unmanned aerial vehicle

Combined Visual and Inertial Navigation for an Unmanned Aerial Vehicle

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Visual-Inertial based autonomous navigation of an Unmanned Aerial Vehicle in GPS-Denied environments

Autonomous Landing Unmanned Aerial Vehicle

This thesis presents the system architecture for landing an Unmanned Aerial Vehicle (UAV) from a hovering position without the intervention of a human operator. Through the use of feedback information from a height sensor, the UAV is commanded to perform controlled descent with the desired landing parameters by implementation of the flight control laws. The plant model of the system was determi...

Unmanned Aerial Vehicle Navigation Using Wide-Field Optical Flow and Inertial Sensors

1Division of Engineering, Pennsylvania State University, Reading, PA 19610, USA 2Department of Mechanical and Aerospace Engineering and Lane Department of Computer Science and Electrical Engineering at WVU, Morgantown, WV 26506, USA 3Aerospace Engineering Department, University of Kansas, Lawrence, KS 66045, USA 4Department of Mechanical and Aerospace Engineering at West Virginia University, Mo...

Towards Autonomous Fixed-Wing Unmanned Aerial Vehicle Landing: A Vision-Aided Inertial Navigation under Sensor Reconfiguration Scenario

While autonomous landing of unmanned aerial vehicles (UAVs) requires accurate position estimation, the standard inertial navigation unit (INU, the inertial measurement unit with a global positioning system (GPS)) provides relatively poor accuracy in altitude estimation. A common solution for this problem is to aid the INU with additional sensors and/or ground infrastructures, but the main hurdl...