MAV attitude determination by vector matching
نویسندگان
چکیده
منابع مشابه
Attitude Determination Using Gps Vector Observations
The vectorized algorithms for GPS based attitude determination can be equivalent to a two-level optimal estimation problem. In the first level estimation the GPS carrier phase measurements can be converted to the vector observations in a sense of least squares. The second level estimation is the Wahba’s problem which describes how the attitude matrix can be derived from the vector observations....
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In this paper, a method for attitude determination from vector observation suitable for Micro Aerial Vehicle application is proposed. The attitude determination algorithm is an estimator which uses a measurement equation derived from the linearization of the non-linear function which maps vectors from one coordinate frame to the other. The physical realization of the system uses Earth’s magneti...
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To determine attitude or direction with star constellations is perhaps the oldest method in the field of navigation and control. Besides its accuracy, star constellations can give three axis information by using just a single sensor, a digital CCD camera. What is very easy for men looking at the stars turns out to be complex if done by an onboard computer. The process of star identification can...
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The employment of embedded cameras in navigation and guidance of Unmanned Aerial Vehicles (UAV) has attracted the focus of many academic researches. In particular, for the multirotor UAV, the camera is widely employed for applications performed in indoor environments, where the GNSS signal is often unreliable and electromagnetic interference can be a concern. In the literature, images are mostl...
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A method for relative attitude determination from planar line-of-sight observations is presented. Three vehicles are assumed to be equipped with sensors to provide measurements of the three inter-vehicle line-of-sight vectors. The line-of-sight vectors are further assumed to be always in the same plane. This information is combined with all the available measurements to find an optimal relative...
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ژورنال
عنوان ژورنال: IEEE Transactions on Aerospace and Electronic Systems
سال: 2008
ISSN: 0018-9251
DOI: 10.1109/taes.2008.4655360