Gravitational pose estimation

Uğurdağ, H. Fatih; Gören, Sezer; Canbay, Ferhat

doi:10.1016/j.compeleceng.2010.05.007

Cited by 3 publications

(2 citation statements)

References 29 publications

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“…The percentage correct degrades to 96%, which is due to the less accurate relative position increasing the likelihood that random noise is as likely as the correct matching. In this test, softPOSIT did not perform well due to its sensitivity to the initial pose (Ugurdag et al., ), whereas our algorithm primarily utilizes the shape of the projected markers, rather than the position in the frame.…”

Section: Multivehicle Relative Navigationmentioning

confidence: 99%

“…Pose estimation algorithms can also find correspondence by iteratively calculating the pose with different assignments. A common example is softPOSIT (David, Dementhon, Duraiswami, & Samet, ), of which variations are regarded as state‐of‐the‐art (Ugurdag, Gören, & Canbay, ). The downside, however, is sensitivity to the initial guess and the computational expense as more correspondence hypotheses are explored.…”

Section: Introductionmentioning

confidence: 99%

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Vision-aided Guidance and Navigation for Close Formation Flight

2015

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Close formation flight can extend an unmanned aerial vehicle's (UAV) range and endurance by utilizing lift from a wingman's wake vortices and by autonomous midair refueling or recharging. The prohibitive challenge in each of these applications is the highly accurate and reliable relative positioning that is required to stationkeep in the wingman's wake and to dock, amid external disturbances. Global navigation satellite systems are well-suited to reliable absolute positioning, but they fall short for accurate relative positioning. This work proposes a relative positioning solution for UAV rendezvous and close formation flight that has been verified in multiple flight tests. A nonlinear estimation framework uses precise air-to-air measurements to correct onboard sensor measurements and produce an accurate relative state estimate that is resilient to intermittent relative measurement outages and degrades gracefully during extended outages. A guidance strategy compensates for wingman turn dynamics, acts explicitly on the estimated relative state, and is applicable to both rendezvous and formation flight. Ground testing showed a relative position estimate accuracy that is 2% of the separation distance, with successful detection and correspondence at up to 36 m. Autonomous close formation flight tests verified the relative positioning solution over extended periods, as close as two wingspans, in winds that were 30%-40% of the cruise airspeed, and at altitudes as low as 15 m. Root-mean-square relative position errors were 1.2 m horizontally and 0.44 m vertically during flights at the closest separation. C 2015 Wiley Periodicals, Inc.

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Section: Multivehicle Relative Navigationmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%