Safety Critical Platform for Mini UAS Insertion into the Common Airspace

2016 24th Mediterranean Conference on Control and Automation (MED)

Hiba

Vanek

et al. 2016

Self Cite

Abstract-This paper deals with monocular image-based time-to-collision (TTC) and closest point of approach (CPA) estimation for aircraft sense and avoid. First, it proposes a disc-based pinhole camera projection model which can better represent a real 3D object. Then it proposes simple least squares optimal line fitting-based techniques for TTC and CPA estimation based-on measurable image parameters only. Possible errors in the image are considered through design nomograms and a collision decision threshold selection technique is presented. Theoretical results are verified through software-in-the-loop simulation and real flight test results. To the best of the author's knowledge the disc-based projection model and the line fit-based TTC and CPA estimation are new contributions in this field.

“…The next section briefly introduces the vision system and methods applied onboard our UAV in S& A flight test experiences (for details of the UAV see [13]). VI.…”

Section: Sil Simulation Test Campaignmentioning

confidence: 99%

Monocular image-based time to collision and closest point of approach estimation

2016 24th Mediterranean Conference on Control and Automation (MED)

Hiba

Vanek

et al. 2016

Self Cite

“…It consists of the conventional components which are necessary for outdoor navigation, such as accelerometer, rate gyro, differential and absolute pressure sensor, magnetometer and a GPS unit [15].…”

Section: B Inertial Measurement Unit Modelmentioning

confidence: 99%

“…The EGT served as a very simple rendering engine, calculating only the camera images and the feature point locations on realistic flight paths generated in our hardware-in-the-loop simulator [15]. Two kind of paths are used: 1) a sinusoidal trajectory and 2) a zig-zag path, both with nearly constant altitude.…”

Section: A Simulation Environmentmentioning

confidence: 99%

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

Zsedrovits

2015 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS)

Németh

et al. 2015

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Abstract-Severalcamera rotation estimator algorithms are tested in simulations and on real flight videos in this paper. 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. Simulation results show that many times even the simplest algorithm can perform at an acceptable level of precision for the sensor fusion.

“…In our system the conventional accelerometer, rate gyro, differential and absolute pressure sensor and magnetometer are completed with a GPS unit [17].…”

Section: B Imu Modelsmentioning

confidence: 99%

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

Zsedrovits

2014 International Conference on Unmanned Aircraft Systems (ICUAS)

Zarándy

et al. 2014

Self Cite

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.