Accession Number:

ADA443306

Title:

Vision Based Control and Target Range Estimation for Small Unmanned Aerial Vehicle

Descriptive Note:

Master's thesis

Corporate Author:

NAVAL POSTGRADUATE SCHOOL MONTEREY CA DEPT OF MECHANICAL AND ASTRONAUTICAL ENGINEERING

Personal Author(s):

Report Date:

2005-12-01

Pagination or Media Count:

57.0

Abstract:

In the tracking of a moving ground target by small unmanned air vehicle UAV via camera vision, the target position and motion cannot be measured directly. Two different types of filters were assessed for their ability to estimate target motion, namely target velocity, directional heading on flat ground and distance from the UAV to target. The first filter is a nonlinear deterministic filter with stability guarantee. The second filter is based on nonlinear Kalman Filter technique. The application and performance of these two filters are presented, for simulated vision based target tracking.

Subject Categories:

  • Pilotless Aircraft
  • Active and Passive Radar Detection and Equipment
  • Electricity and Magnetism

Distribution Statement:

APPROVED FOR PUBLIC RELEASE