碩士 / 國立暨南國際大學 / 電機工程學系 / 105 / Currently, the Global Positioning System (GPS) products have been matured and have applied in multiple ways. One of the application is Unmanned Aircraft Vehicle (UAV). The feature points of the UAV are the lower pollution and price, highly freedom to change instrument for the mission, and highly maneuverability in the fly field. Therefore, it will make the easy navigation but there are still some limitations of the GPS aiding, for example, the GPS signal is not efficient indoor because of the attenuation of electromagnetic waves. Therefore, we discuss a vision approach to aid low-cost inertial navigation system (INS) where the vision approach is called homography algorithm.
In this thesis, by using the Kalman filter, we estimate the velocity errors and angular velocity errors from the images to compensate the low-cost INS.
| Identifer | oai:union.ndltd.org:TW/105NCNU0442004 |
| Date | January 2017 |
| Creators | LIU, CHUN-HAO, 劉存皓 |
| Contributors | LUM, KAI-YEW, 林繼耀 |
| Source Sets | National Digital Library of Theses and Dissertations in Taiwan |
| Language | en_US |
| Detected Language | English |
| Type | 學位論文 ; thesis |
| Format | 135 |
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