Accession Number:

ADA528433

Title:

Vision Assisted Navigation for Miniature Unmanned Aerial Vehicles (MAVs)

Descriptive Note:

Final rept. Feb 2007-Nov 2009

Corporate Author:

BRIGHAM YOUNG UNIV PROVO UT

Personal Author(s):

Report Date:

2009-11-01

Pagination or Media Count:

55.0

Abstract:

One of the primary difficulties in flying airplanes of all sizes is navigation, or ensuring that the location and attitude of the airplane is known at all times. For large aerial systems, high-quality IMUs have been successfully used for decades. However, the weight, power, cost, and size restrictions of miniature-UAVs MAVs preclude the use of high-quality IMUs for navigation. For the past two and a half years, this contract has enabled the investigation of techniques for enabling high-quality navigation using a combination of low quality inertial sensors, visual sensors, and when available GPS. Specific areas of contribution from this project include 1 real-time techniques for improving pose estimates on MAVs with GPS, 2 two proposed approaches for enabling GPS-denied navigation, 3 quantitative and analytical analyses of different navigation algorithms, and 4 GPS-denied navigation utilizing multiple agents. The contributions in each of these areas is discussed in this report.

Subject Categories:

  • Pilotless Aircraft
  • Navigation and Guidance

Distribution Statement:

APPROVED FOR PUBLIC RELEASE