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In this work, we present the development of a target tracking and following system using a self-customized hybrid UAV, KH-Lion. KH-Lion is a small and autonomous tail-sitter UAV stabilized and controlled by two vectored propulsion systems. A target tracking system was developed on this platform for autonomous target following on a predetermined moving object on the ground. A customized AprilTag marker...
This manuscript describes a UAV implemented with vision and laser based localization algorithm to track and land on a moving platform. Specifically, a pre-designed marker is installed on the moving platform and a downward facing monocular camera is mounted on the UAV for pose estimation. For a robust and precise UAV height estimation, a LiDAR scanning range finder is utilized to determine accurate...
This paper presents a design and implementation of an unmanned aerial vehicle (UAV) for outdoor firefighting application. The proposed UAV firefighting system consists of a self-designed quadcopter as platform, a transmission system to collect and release water, a real time kinematic (RTK) based navigation system and a mission control system to monitor and coordinate the UAV. In our proposed autonomous...
Cargo transportation between moving platforms is one of the most meaningful potential applications of UAVs. However, to fully autonomously transport the cargos, the UAV is required to have high position precision and high intelligence to tackle all the emergencies, on which the technology is not mature yet. In this article, we present a quadrotor system targeting at fully autonomous cargo transportation...
This paper presents an intelligent and robust guidance, navigation and control solution for a rotorcraft UAV to perform automatic cargo transportation between two moving platforms. Different from the conventional GPS/INS based navigation, the proposed UAV system also integrates a scanning laser range finder to robustly correct its altitude measurement and an advanced vision sub-system to detect the...
Measurements of GPS STEC carried out at Hainan station, are used to derive vertical total electron content (VTEC). The ionospheric variability of TEC for different seasons is discussed; GPS TEC is compared with the NeQuick model. We have found that the diurnal variation of TEC for different seasons shows the winter anomaly and semiannual anomaly; in general the diurnal maximum is the highest in equinox...
Determining the motion of an unmanned aerial vehicle in GPS-denied environments is a challenging work. In this paper, we present a systematic design and implementation of a vision aided motion estimation approach for an unmanned helicopter in such a condition. A hierarchical vision scheme is proposed to detect a structured landmark, and find the correspondence between the 3D reference points and the...
We document in this article a general introduction to modern miniature unmanned rotorcraft systems. More specifically, we present a fairly detailed overview on the hardware configuration, software integration, aerodynamic modeling, automatic flight control system, and computer vision system involved in forming an unmanned rotorcraft system.
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