Accession Number:

ADA359702

Title:

Vision Guidance Controller for an Unmanned Aerial Vehicle.

Descriptive Note:

Master's thesis,

Corporate Author:

NAVAL POSTGRADUATE SCHOOL MONTEREY CA

Personal Author(s):

Report Date:

1998-12-01

Pagination or Media Count:

94.0

Abstract:

The use of Unmanned Aerial Vehicles UAVs in modern military operations for reconnaissance and other missions continues to grow. UAV systems using remote control guidance are limited in range and subject to Electronic Warfare concerns. Guidance Systems using only Global Positioning Service GPS or an Inertial Navigation System INS are limited to a pre-programmed route of flight. A vision guidance system that can control the UAV over an arbitrary course is not subject to these limitations. This thesis uses classical control methods to develop and test an autonomous vision controller for the FOG-R UAV FROG. First, a computer model of the camera output for a flight that tracks a river is made to develop the controller and to test it in nonlinear simulation. Finally, the complete system is flight tested on the FROG UAV. The design and test equipment include a highly modified FOG-R UAV from the U.S. Army, the MATRIXx Product Family of software tools developed by Integrated Systems, Inc., and a Ground Station built at NPS from commercially available computer and communication equipment.

Subject Categories:

  • Navigation and Guidance
  • Unmanned Spacecraft

Distribution Statement:

APPROVED FOR PUBLIC RELEASE