A Method for the Visual Estimation and Control of 3-DOF Attitude for UAVs
نویسندگان
چکیده
This study describes a novel, vision-based method for automatically obtaining the 3-DOF attitude of an aircraft. A very wide-angle view of the environment is captured and the input images are classified into fuzzy sky and ground regions using the spectral and intensity properties of the pixels. A novel approach to obtaining the 2-DOF attitude of the aircraft from the classified images is described, which is used to generate a stabilised panoramic image of the horizon and sky. This ‘visual compass’ is then used to determine the heading direction of the aircraft. We present results from recent flight testing that demonstrates the abilty of this vision-based approach to outperform an inexpensive inertial unit and provide real-time guidance for a UAV.
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تاریخ انتشار 2011