Error analysis of algorithms for camera rotation calculation in GPS/IMU/camera fusion for UAV sense and avoid systems

Abstract

Abstract-In this paper four camera pose estimation algorithms are investigated in simulations. The aim of the investigation is to show the strengths and weaknesses of these algorithms in the aircraft attitude estimation task. The work is part of a research project where a low cost UAV is developed which can be integrated into the national airspace. Two main issues are addressed with these measurements, one is the sense-and-avoid capability of the aircraft and the other is sensor redundancy. Both parts can benefit from a good attitude estimate. Thus, it is important to use the appropriate algorithm for the camera rotation estimation. Results show that many times even the simplest algorithm can perform at an acceptable level of precision for the sensor fusion.

Cognitive Chaotic UWB-MIMO Detect-Avoid Radar for Autonomous UAV Navigation

“…• Ability to function at all times during the day and in all weather conditions unlike optical sensor based solutions [8]- [10].…”

“…Since these mechanisms rely upon open and un-encrypted transmission signals, they are invariably prone to spoofing and other message infringement forms of attacks [15]. Other approaches include, segregated or designated airspace for UAS operations, traditional visual see and avoid based on optical sensors [8]- [10], cooperative separation assurance strategy that could be based on a communications link between multiple UAV systems, and ground based radar surveillance [11]. All of these approaches inhibit the ability of the UAV drone to be fully autonomous in terms of decision making to implement collision avoidance maneuvers.…”

Error analysis of attitude estimation with focal-plane processors for guidance for mobile robots

“…The details of the measurements cannot be written here because of the page restriction, but they can be found in [2].…”

“…Furthermore VisNAV measurements can enhance redundancy in the navigation system or improve the accuracy of the attitude estimates (depending on the sensor capabilities). As we showed in [2] and [3], the feature point based visual attitude estimation can solve the drifting problem caused by the slow global navigation (GNSS) fused with the inertial navigation (INS).…”

Performance analysis of camera rotation estimation algorithms for UAS sense and avoid

“…In our previous work some parts of an error analysis for these algorithms for Camera-IMU-GPS fusion were introduced in simulations [12]. In this paper the error analysis of four algorithms is shown.…”