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Robust estimation of linear velocity states of Micro Air Vehicle using Monocular

Jana, Shuvrangshu and Bhat, M Seetharama (2018) Robust estimation of linear velocity states of Micro Air Vehicle using Monocular. In: 5th IFAC Conference on Advances in Control and Optimization of Dynamical Systems (ACODS), FEB 18-22, 2018, Hyderabad, INDIA, pp. 178-183.

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Official URL: https://dx.doi.org/10.1016/j.ifacol.2018.05.032

Abstract

This paper introduces robust estimation of micro air vehicle's linear velocity from captured images using a monocular camera in GPS denied environment. Vehicle's velocity information can be extracted from matched feature points of consecutive images; however, robust techniques are required for reliable information as these estimations algorithms are prone to high image noise and unavailability of enough matched feature points. In this paper, the estimation technique is considered based on fast estimation method where the estimation error can be made arbitrary small using the high update gain and high bandwidth of low pass filter. The performance bound is only restricted by the computational resources of the hardware. The proposed scheme is built after modification of predictor equation in original fast estimation method which involves driving the predictor dynamics according to estimation error. The velocity states are obtained using the fundamental kinematics motion of world object in camera frame fixed to micro air vehicle. It is assumed that vertical height from the ground is available from other sensors and the object depth information is approximated using the flat earth model.The estimation is carried out in the realistic simulation environment by interfacing of a six-dof nonlinear model and virtual environment. Simulation results show the robustness of the proposed method. (C) 2018, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.

Item Type: Conference Proceedings
Additional Information: Copyright of this article belong to ELSEVIER SCIENCE BV, PO BOX 211, 1000 AE AMSTERDAM, NETHERLANDS
Department/Centre: Division of Mechanical Sciences > Aerospace Engineering(Formerly Aeronautical Engineering)
Depositing User: Id for Latest eprints
Date Deposited: 13 Aug 2018 15:31
Last Modified: 23 Oct 2018 14:49
URI: http://eprints.iisc.ac.in/id/eprint/60418

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