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Vision based control and target range estimation for small unmanned aerial vehicle

In the tracking of a moving ground target by small unmanned air vehicle (UAV) via camera vision, the target position and motion cannot be measured directly. Two different types of filters were assessed for their ability to estimate target motion, namely target velocity, directional heading on flat ground and distance from the UAV to target. The first filter is a nonlinear deterministic filter with stability guarantee. The second filter is based on nonlinear Kalman Filter technique. The application and performance of these two filters are presented, for simulated vision based target tracking.

Identiferoai:union.ndltd.org:nps.edu/oai:calhoun.nps.edu:10945/1815
Date12 1900
CreatorsQuek, Chin Khoon.
ContributorsKaminer, Isaac I., Dobrokhodov, Vladimir N., Naval Postgraduate School (U.S.)., Department of Mechanical and Astronautical Engineering
PublisherMonterey, California. Naval Postgraduate School
Source SetsNaval Postgraduate School
Detected LanguageEnglish
TypeThesis
Formatxiv, 41 p. ;, application/pdf
RightsApproved for public release, distribution unlimited

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