On the Computation of the Ego-Motion and Distance to Obstacles for a Micro Air Vehicle

Abstract

In this paper, we have considered the problem of velocity and range estimation for a UAV using a camera and the knowledge of total speed through a GPS device. We have shown that this problem can be solved using a reliability-based motion computation and an optimization problem that is well-posed. If the velocity in the body frame is known, then the problem results in a straight-forward solution. For the more complicated case, when only the total speed is known, we assume that the component of the linear velocity along the axis of the camera is positive. We show that these assumptions form minimal additional information required to solve the problem of ego-motion and range estimation.

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Document Details

Document Type
Technical Report
Publication Date
Jan 01, 2006
Accession Number
ADA446850

Entities

People

  • R. V. Iyer

Organizations

  • Air Force Research Laboratory

Tags

Communities of Interest

  • Air Platforms

DTIC Thesaurus Topics

  • Air Force
  • Air Force Facilities
  • Air Force Research Laboratories
  • Aircrafts
  • Computations
  • Coordinate Systems
  • Global Positioning Systems
  • Government Procurement
  • Governments
  • Micro Air Vehicles
  • Military Research
  • Optimization
  • Random Variables
  • Reliability
  • Standards
  • Three Dimensional
  • Vehicles

Fields of Study

  • Mathematics

Readers

  • Adaptive Control and Estimation with Uncertainty in Dynamic Systems.
  • Finite Element Method (FEM) for solving Partial Differential Equations (PDEs)
  • Geodesy

Technology Areas

  • Space
  • Space - Spacecraft Maneuvers