Electronics Optics & Control, Volume. 20, Issue 11, 42(2013)

Vision Based Localization Algorithm for Unmanned Aerial Vehicles in Flight

MA Yuan... WU Aiguo and DU Chunyan |Show fewer author(s)
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    In order to improve the localization accuracy for Unmanned Aerial Vehicle(UAV)in flighta localization algorithm is proposed based on machine vision.This algorithm can make UAV fly in the environment where Global Positioning System (GPS) signal is disturbed or is in failure.First of alltwo modified coordinate transformation algorithmsTrf1 and Trf2were obtained based on ScaleInvariant Feature Transform(SIFT)KDTree search image matching algorithm and the transformation between coordinate systems.With the help of Trf1the first coordinate transformation algorithmground coordinates of the target matched points were calculated out to build up a map of the flight environment.The second algorithmTrf2could calculate the realtime locations of UAV.Subsequentlythe localization algorithm in UAV flight was obtained based on the two modified coordinate transformation algorithmsand experiment was carried out based on the algorithms.Experiment results show that errors of calculated UAV positions are within 12 cmwhich demonstrates the accuracy of this method.

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    MA Yuan, WU Aiguo, DU Chunyan. Vision Based Localization Algorithm for Unmanned Aerial Vehicles in Flight[J]. Electronics Optics & Control, 2013, 20(11): 42

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    Paper Information

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    Received: Nov. 22, 2012

    Accepted: --

    Published Online: Dec. 4, 2013

    The Author Email:

    DOI:10.3969/j.issn.1671-637x.2013.11.010

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