Improved Optical Sensor Fusion in UAV Navigation Using Feature Point Threshold Filter

Kim, Taegyun; Kim, Dongmin; Kim, Taegyun; Kim, Younsil; Han, Sanghyuck

doi:10.1007/s42405-021-00423-6

Cited by 11 publications

(6 citation statements)

References 15 publications

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“…The point ܲ ሺ‫ݔ‬ , ‫ݕ‬ , ݄ሻ is on the ground, and ܲሺ‫,ݔ‬ ‫,ݕ‬ ݂ሻ is the corresponding point on the image plane. According to the geometrical relationship in Figure 1, the optical flow measurement ൌ ሺߜ ௫ ߜ ௬ ሻ can be described by (1) [10][11], in which ൌ ሺ ‫ݒ‬ ௫ ‫ݒ‬ ௬ ‫ݒ‬ ௭ሻ and ࣓ ൌ ሺ ߱ ௫ ߱ ௬ ߱ ௭ሻ denote the linear and angular velocities of the UAV in the b-frame, respectively. Note that the optical flow is a two-dimensional vector always located in the image plane.…”

Section: Optical Flow Sensormentioning

confidence: 99%

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Augmentation for unmanned aerial vehicle position estimation using MARG and optical flow sensors

2023

J. Phys.: Conf. Ser.

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The optical flow sensor can detect the movement of the unmanned aerial vehicle (UAV) on the ground; thus, it is widely used for UAV flight control. The commonly used pinhole model of optical flow sensor describes the optical flow measurement in linear and angular velocities. It is not suitable in the case of discrete-time processing. A novel measurement model for the optical flow sensor is proposed, which directly gives the relationship between the optical flow and the UAV’s translational/angular motions in each sampling period. A data fusion scheme based on cubature transform is also presented, which can augment UAV’s position estimation using optical flow data. The proposed method is proven to be effective through flight tests on UAVs.

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Section: Optical Flow Sensormentioning

confidence: 99%

“…The optical flow sensor can detect both linear and angular motions of its host platform, and thus it can be used to augment position accuracy for UAVs [9][10][11]. But the commonly used pinhole model of optical flow sensor is actually in differential form, i.e., it is based on the instantaneous linear and angular velocities.…”

Section: Introductionmentioning

confidence: 99%

Augmentation for unmanned aerial vehicle position estimation using MARG and optical flow sensors

2023

J. Phys.: Conf. Ser.

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“…There are various simulation environments that work with PX4 SITL among which, Gazebo, jMAVSim, FlightGear, and AirSim are some. Gazebo is the most widely used simulation environment for PX4 SITL [38][39][40][41][42]. It supports lock-step feature of PX4 SITL that enables the PX4 SITL and Gazebo to wait on each other during information processing.…”

Section: Px4 Sitl Gazebo Modelsmentioning

confidence: 99%

Effects of Model Specific Parameters on the Development of Custom Module in PX4 Autopilot Software-In-The-Loop

Tullu,

Jung,

Lee

et al. 2023

Preprint

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Software-In-The-Loop (SITL) simulation tools have been extensively used in development of safety-critical software. Utilizing these tools substantially accelerates software development eliminating potential risks and resource costs of physical experiments. This paper investigates the effects of model specific parameters on the development and testing of custom module in PX4 SITL environment. Models of a fixed-wing unmanned aerial vehicle with vertical takeoff and landing capabilities and steerable sensor platform/gimbal are used as case study for this investigation. The effects of parameters of these aerial vehicle and sensor platform models are taken into consideration in the development of custom module that controls the dynamics of steerable sensor platform mounted on the vehicle model. The work also presents steps necessary to customize PX4 SITL and Gazebo simulation environment to incorporate parameters of the vehicle and sensor platform models in the development and testing process of custom module. Based on these instances, simulation results are obtained and discussed. The results show that reliability of PX4 SITL simulation framework is justified by proper customization and integration of PX4 SITL and Gazebo simulator.

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“…The integration of GNSS and IMU data has been widely studied, especially in vehicle navigation [ 29 , 30 , 31 , 32 , 33 , 34 , 35 , 36 , 37 , 38 , 39 , 40 , 41 , 42 , 43 , 44 , 45 ]. GNSS/IMU integration architectures can be categorized into loosely-coupled, tightly-coupled, and deep [ 46 ].…”

Section: Introductionmentioning

confidence: 99%

The Design of GNSS/IMU Loosely-Coupled Integration Filter for Wearable EPTS of Football Players

Kim

Park²,

Yoon³

2023

Sensors

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This study presents the filter design of GNSS/IMU integration for wearable EPTS (Electronic Performance and Tracking System) of football players. EPTS has been widely used in sports fields recently, and GNSS (Global Navigation Satellite System) and IMU (Inertial Measurement Unit) in wearable EPTS have been used to measure and provide players’ athletic performance data. A sensor fusion technique can be used to provide high-quality analysis data of athletic performance. For this reason, the integration filter of GNSS data and IMU data is designed in this study. The loosely-coupled strategy is considered to integrate GNSS and IMU data considering the specification of the wearable EPTS product. Quaternion is used to estimate a player’s attitude to avoid the gimbal lock singularity in this study. Experiment results validate the performance of the proposed GNSS/IMU loosely-coupled integration filter for wearable EPTS of football players.

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Improved Optical Sensor Fusion in UAV Navigation Using Feature Point Threshold Filter

Cited by 11 publications

References 15 publications

Augmentation for unmanned aerial vehicle position estimation using MARG and optical flow sensors

Augmentation for unmanned aerial vehicle position estimation using MARG and optical flow sensors

Effects of Model Specific Parameters on the Development of Custom Module in PX4 Autopilot Software-In-The-Loop

The Design of GNSS/IMU Loosely-Coupled Integration Filter for Wearable EPTS of Football Players

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