UAV Control on the Basis of 3D Landmark Bearing-Only Observations
The article presents an approach to the control of a UAV on the basis of 3D landmark observations. The novelty of the work is the usage of the 3D RANSAC algorithm developed on the basis of the landmarks’ position prediction with the aid of a modified Kalman-type filter. Modification of the filter ba...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2015-11-01
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| Series: | Sensors |
| Subjects: | |
| Online Access: | http://www.mdpi.com/1424-8220/15/12/29768 |
| _version_ | 1811278013115924480 |
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| author | Simon Karpenko Ivan Konovalenko Alexander Miller Boris Miller Dmitry Nikolaev |
| author_facet | Simon Karpenko Ivan Konovalenko Alexander Miller Boris Miller Dmitry Nikolaev |
| author_sort | Simon Karpenko |
| collection | DOAJ |
| description | The article presents an approach to the control of a UAV on the basis of 3D landmark observations. The novelty of the work is the usage of the 3D RANSAC algorithm developed on the basis of the landmarks’ position prediction with the aid of a modified Kalman-type filter. Modification of the filter based on the pseudo-measurements approach permits obtaining unbiased UAV position estimation with quadratic error characteristics. Modeling of UAV flight on the basis of the suggested algorithm shows good performance, even under significant external perturbations. |
| first_indexed | 2024-04-13T00:27:06Z |
| format | Article |
| id | doaj.art-c2932c5f6b6141849e8518136b847473 |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-04-13T00:27:06Z |
| publishDate | 2015-11-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-c2932c5f6b6141849e8518136b8474732022-12-22T03:10:35ZengMDPI AGSensors1424-82202015-11-011512298022982010.3390/s151229768s151229768UAV Control on the Basis of 3D Landmark Bearing-Only ObservationsSimon Karpenko0Ivan Konovalenko1Alexander Miller2Boris Miller3Dmitry Nikolaev4Institute for Information Transmission Problems RAS, Bolshoy Karetny per. 19, Build. 1, GSP-4, Moscow 127051, RussiaInstitute for Information Transmission Problems RAS, Bolshoy Karetny per. 19, Build. 1, GSP-4, Moscow 127051, RussiaInstitute for Information Transmission Problems RAS, Bolshoy Karetny per. 19, Build. 1, GSP-4, Moscow 127051, RussiaInstitute for Information Transmission Problems RAS, Bolshoy Karetny per. 19, Build. 1, GSP-4, Moscow 127051, RussiaInstitute for Information Transmission Problems RAS, Bolshoy Karetny per. 19, Build. 1, GSP-4, Moscow 127051, RussiaThe article presents an approach to the control of a UAV on the basis of 3D landmark observations. The novelty of the work is the usage of the 3D RANSAC algorithm developed on the basis of the landmarks’ position prediction with the aid of a modified Kalman-type filter. Modification of the filter based on the pseudo-measurements approach permits obtaining unbiased UAV position estimation with quadratic error characteristics. Modeling of UAV flight on the basis of the suggested algorithm shows good performance, even under significant external perturbations.http://www.mdpi.com/1424-8220/15/12/29768UAVvisual odometryprojective geometryvideo streamfeature pointsmodified Kalman filtercontrol |
| spellingShingle | Simon Karpenko Ivan Konovalenko Alexander Miller Boris Miller Dmitry Nikolaev UAV Control on the Basis of 3D Landmark Bearing-Only Observations Sensors UAV visual odometry projective geometry video stream feature points modified Kalman filter control |
| title | UAV Control on the Basis of 3D Landmark Bearing-Only Observations |
| title_full | UAV Control on the Basis of 3D Landmark Bearing-Only Observations |
| title_fullStr | UAV Control on the Basis of 3D Landmark Bearing-Only Observations |
| title_full_unstemmed | UAV Control on the Basis of 3D Landmark Bearing-Only Observations |
| title_short | UAV Control on the Basis of 3D Landmark Bearing-Only Observations |
| title_sort | uav control on the basis of 3d landmark bearing only observations |
| topic | UAV visual odometry projective geometry video stream feature points modified Kalman filter control |
| url | http://www.mdpi.com/1424-8220/15/12/29768 |
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