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Waypoint navigation for a micro air vehicle using vision-based attitude estimation

Published online by Cambridge University Press:  03 February 2016

J. J. Kehoe ,
R. S. Causey ,
M. Abdulrahim  and
R. Lind
J. J. Kehoe
Affiliation:
Department of Mechanical and Aerospace Engineering, University of Florida, Florida, USA
R. S. Causey
Affiliation:
Department of Mechanical and Aerospace Engineering, University of Florida, Florida, USA
M. Abdulrahim
Affiliation:
Department of Mechanical and Aerospace Engineering, University of Florida, Florida, USA
R. Lind
Affiliation:
Department of Mechanical and Aerospace Engineering, University of Florida, Florida, USA
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Abstract

Missions envisioned for micro air vehicles may require a high degree of autonomy to operate in unknown environments. As such, vision is a critical technology for mission capability. This paper discusses an autopilot that uses vision coupled with GPS and altitude sensors for waypoint navigation. The vision processing analyses a horizon to estimate roll and pitch information. The GPS and altitude sensors then command values to roll and pitch for navigation between waypoints. A flight test of a MAV using this autopilot demonstrates the resulting closed-loop system is able to autonomously reach several waypoints. The vehicle actually uses a telemetry link to a ground station on which all vision processing and related guidance and control is performed. Several issues, such as estimating heading to account for slow updates, are investigated to increase performance.

Type
Research Article
Information
The Aeronautical Journal , Volume 110 , Issue 1114 , December 2006 , pp. 821 - 829
Copyright
Copyright © Royal Aeronautical Society 2006 

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