Accession Number:

AD1031534

Title:

Vision-Based Position Estimation Utilizing an Extended Kalman Filter

Descriptive Note:

Technical Report

Corporate Author:

Naval Postgraduate School Monterey United States

Personal Author(s):

• Testa,Joseph III B.

Report Date:

2016-12-01

Pagination or Media Count:

69.0

Abstract:

The purpose of this project is to develop and integrate a prototype multicopter Unmanned Aerial Vehicle UAV with a vision-based algorithm to enable a relative position hold capability. The resulting solution will enable automatic operation of a UAV with respect to another visually detectable object without use of GPS receiver or when GPS signal is not available. Navigating a robot in a GPS-denied environment is a desired feature in many applications, including Maritime Interdiction Operations. While automatically maintaining its relative position with respect to a given target, the onboard system will also provide video coverage of blind spots and network relay between the boarding team and ship.

Descriptors:

• unmanned aerial vehicles
• kalman filters
• estimators
• change detection
• computer vision
• measurement
• algorithms
• autonomous navigation
• image processing
• image recognition
• target acquisition
• calibration

Subject Categories:

• Pilotless Aircraft
• Air Navigation and Guidance

Distribution Statement:

APPROVED FOR PUBLIC RELEASE