Electronics Optics & Control, Volume. 20, Issue 11, 42(2013)
Vision Based Localization Algorithm for Unmanned Aerial Vehicles in Flight
In order to improve the localization accuracy for Unmanned Aerial Vehicle(UAV)in flighta 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 alltwo modified coordinate transformation algorithmsTrf1 and Trf2were obtained based on ScaleInvariant Feature Transform(SIFT)KDTree search image matching algorithm and the transformation between coordinate systems.With the help of Trf1the first coordinate transformation algorithmground coordinates of the target matched points were calculated out to build up a map of the flight environment.The second algorithmTrf2could calculate the realtime locations of UAV.Subsequentlythe localization algorithm in UAV flight was obtained based on the two modified coordinate transformation algorithmsand experiment was carried out based on the algorithms.Experiment results show that errors of calculated UAV positions are within 12 cmwhich demonstrates the accuracy of this method.
Get Citation
Copy Citation Text
MA Yuan, WU Aiguo, DU Chunyan. Vision Based Localization Algorithm for Unmanned Aerial Vehicles in Flight[J]. Electronics Optics & Control, 2013, 20(11): 42
Category:
Received: Nov. 22, 2012
Accepted: --
Published Online: Dec. 4, 2013
The Author Email: