A Dynamic Navigation Model for Unmanned Aircraft Systems and an Application to Autonomous Front-On Environmental Sensing and Photography Using Low-Cost Sensor Systems
This paper presents an unmanned aircraft system (UAS) that uses a probabilistic model for autonomous front-on environmental sensing or photography of a target. The system is based on low-cost and readily-available sensor systems in dynamic environments and with the general intent of improving the ca...
| Main Authors: | , , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2015-08-01
|
| Series: | Sensors |
| Subjects: | |
| Online Access: | http://www.mdpi.com/1424-8220/15/9/21537 |
| _version_ | 1811303923461390336 |
|---|---|
| author | Andrew James Cooper Chelsea Anne Redman David Mark Stoneham Luis Felipe Gonzalez Victor Kwesi Etse |
| author_facet | Andrew James Cooper Chelsea Anne Redman David Mark Stoneham Luis Felipe Gonzalez Victor Kwesi Etse |
| author_sort | Andrew James Cooper |
| collection | DOAJ |
| description | This paper presents an unmanned aircraft system (UAS) that uses a probabilistic model for autonomous front-on environmental sensing or photography of a target. The system is based on low-cost and readily-available sensor systems in dynamic environments and with the general intent of improving the capabilities of dynamic waypoint-based navigation systems for a low-cost UAS. The behavioural dynamics of target movement for the design of a Kalman filter and Markov model-based prediction algorithm are included. Geometrical concepts and the Haversine formula are applied to the maximum likelihood case in order to make a prediction regarding a future state of a target, thus delivering a new waypoint for autonomous navigation. The results of the application to aerial filming with low-cost UAS are presented, achieving the desired goal of maintained front-on perspective without significant constraint to the route or pace of target movement. |
| first_indexed | 2024-04-13T07:56:39Z |
| format | Article |
| id | doaj.art-33aba67a93234fcb99c7c13dd9de6b4f |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-04-13T07:56:39Z |
| publishDate | 2015-08-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-33aba67a93234fcb99c7c13dd9de6b4f2022-12-22T02:55:23ZengMDPI AGSensors1424-82202015-08-01159215372155310.3390/s150921537s150921537A Dynamic Navigation Model for Unmanned Aircraft Systems and an Application to Autonomous Front-On Environmental Sensing and Photography Using Low-Cost Sensor SystemsAndrew James Cooper0Chelsea Anne Redman1David Mark Stoneham2Luis Felipe Gonzalez3Victor Kwesi Etse4Queensland University of Technology, Australian Research Centre for Aerospace Automation (ARCAA), 2 George St, Brisbane QLD 4000, AustraliaQueensland University of Technology, Australian Research Centre for Aerospace Automation (ARCAA), 2 George St, Brisbane QLD 4000, AustraliaQueensland University of Technology, Australian Research Centre for Aerospace Automation (ARCAA), 2 George St, Brisbane QLD 4000, AustraliaQueensland University of Technology, Australian Research Centre for Aerospace Automation (ARCAA), 2 George St, Brisbane QLD 4000, AustraliaQueensland University of Technology, Australian Research Centre for Aerospace Automation (ARCAA), 2 George St, Brisbane QLD 4000, AustraliaThis paper presents an unmanned aircraft system (UAS) that uses a probabilistic model for autonomous front-on environmental sensing or photography of a target. The system is based on low-cost and readily-available sensor systems in dynamic environments and with the general intent of improving the capabilities of dynamic waypoint-based navigation systems for a low-cost UAS. The behavioural dynamics of target movement for the design of a Kalman filter and Markov model-based prediction algorithm are included. Geometrical concepts and the Haversine formula are applied to the maximum likelihood case in order to make a prediction regarding a future state of a target, thus delivering a new waypoint for autonomous navigation. The results of the application to aerial filming with low-cost UAS are presented, achieving the desired goal of maintained front-on perspective without significant constraint to the route or pace of target movement.http://www.mdpi.com/1424-8220/15/9/21537unmanned aircraft systempredictive path planningsocietal integrationdynamic waypoint navigationaerial photographyaerial filming |
| spellingShingle | Andrew James Cooper Chelsea Anne Redman David Mark Stoneham Luis Felipe Gonzalez Victor Kwesi Etse A Dynamic Navigation Model for Unmanned Aircraft Systems and an Application to Autonomous Front-On Environmental Sensing and Photography Using Low-Cost Sensor Systems Sensors unmanned aircraft system predictive path planning societal integration dynamic waypoint navigation aerial photography aerial filming |
| title | A Dynamic Navigation Model for Unmanned Aircraft Systems and an Application to Autonomous Front-On Environmental Sensing and Photography Using Low-Cost Sensor Systems |
| title_full | A Dynamic Navigation Model for Unmanned Aircraft Systems and an Application to Autonomous Front-On Environmental Sensing and Photography Using Low-Cost Sensor Systems |
| title_fullStr | A Dynamic Navigation Model for Unmanned Aircraft Systems and an Application to Autonomous Front-On Environmental Sensing and Photography Using Low-Cost Sensor Systems |
| title_full_unstemmed | A Dynamic Navigation Model for Unmanned Aircraft Systems and an Application to Autonomous Front-On Environmental Sensing and Photography Using Low-Cost Sensor Systems |
| title_short | A Dynamic Navigation Model for Unmanned Aircraft Systems and an Application to Autonomous Front-On Environmental Sensing and Photography Using Low-Cost Sensor Systems |
| title_sort | dynamic navigation model for unmanned aircraft systems and an application to autonomous front on environmental sensing and photography using low cost sensor systems |
| topic | unmanned aircraft system predictive path planning societal integration dynamic waypoint navigation aerial photography aerial filming |
| url | http://www.mdpi.com/1424-8220/15/9/21537 |
| work_keys_str_mv | AT andrewjamescooper adynamicnavigationmodelforunmannedaircraftsystemsandanapplicationtoautonomousfrontonenvironmentalsensingandphotographyusinglowcostsensorsystems AT chelseaanneredman adynamicnavigationmodelforunmannedaircraftsystemsandanapplicationtoautonomousfrontonenvironmentalsensingandphotographyusinglowcostsensorsystems AT davidmarkstoneham adynamicnavigationmodelforunmannedaircraftsystemsandanapplicationtoautonomousfrontonenvironmentalsensingandphotographyusinglowcostsensorsystems AT luisfelipegonzalez adynamicnavigationmodelforunmannedaircraftsystemsandanapplicationtoautonomousfrontonenvironmentalsensingandphotographyusinglowcostsensorsystems AT victorkwesietse adynamicnavigationmodelforunmannedaircraftsystemsandanapplicationtoautonomousfrontonenvironmentalsensingandphotographyusinglowcostsensorsystems AT andrewjamescooper dynamicnavigationmodelforunmannedaircraftsystemsandanapplicationtoautonomousfrontonenvironmentalsensingandphotographyusinglowcostsensorsystems AT chelseaanneredman dynamicnavigationmodelforunmannedaircraftsystemsandanapplicationtoautonomousfrontonenvironmentalsensingandphotographyusinglowcostsensorsystems AT davidmarkstoneham dynamicnavigationmodelforunmannedaircraftsystemsandanapplicationtoautonomousfrontonenvironmentalsensingandphotographyusinglowcostsensorsystems AT luisfelipegonzalez dynamicnavigationmodelforunmannedaircraftsystemsandanapplicationtoautonomousfrontonenvironmentalsensingandphotographyusinglowcostsensorsystems AT victorkwesietse dynamicnavigationmodelforunmannedaircraftsystemsandanapplicationtoautonomousfrontonenvironmentalsensingandphotographyusinglowcostsensorsystems |