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An approach to vision-based navigation system for autonomous navigation of unmanned aircraft with use of terrain elevation map is addressed. We considered simultaneous localization and mapping (SLAM) algorithm to be the system to which the digital terrain elevation data (DTED) is merged. The proposed algorithm acquires range measurement by line-of-sight (LOS) intersection and provides it to the SLAM...
Many guidance laws for UAVs focus on path following. And trajectory tracking problem is enough when it satisfies path and time constrains. One more constraint will be considered in this research, that is, approaching direction to a terminal position. Two methods will be introduced; they are based on Pythagorean-Hodograph curve, and the Lyapunov vector field, respectively. The first algorithm consists...
This paper presents target motion estimation for multiple air vehicles. The motion of the airborne target is estimated by vision information from camera sensors fixed to the followers. Each camera sensors provides information of the target by three angles: an azimuth angle, an elevation angle, and a subtended angle. In the frame work of information filter, each follower estimates position, velocity...
Using Fisher Information Matrix (FIM), the optimal trajectory to localize a specifc target is obtained as optimization problem. However, it is more effective to employ more vehicles with various sensors in order to gather suffcient information about the target. So, it is investigated how multi vehicles with different types of sensors by cooperative maneuver affect the trajectory in this paper. Clearly...
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